diff --git a/components/mbedtls/CMakeLists.txt b/components/mbedtls/CMakeLists.txt
index 9cb83d4445..e26a3459e3 100644
--- a/components/mbedtls/CMakeLists.txt
+++ b/components/mbedtls/CMakeLists.txt
@@ -12,6 +12,10 @@ endif()
 set(mbedtls_srcs "")
 set(mbedtls_include_dirs "port/include" "mbedtls/include" "mbedtls/library")
 
+if(CONFIG_MBEDTLS_USE_CRYPTO_ROM_IMPL)
+    list(APPEND mbedtls_include_dirs "port/mbedtls_rom")
+endif()
+
 if(CONFIG_MBEDTLS_CERTIFICATE_BUNDLE)
     list(APPEND mbedtls_srcs "esp_crt_bundle/esp_crt_bundle.c")
     list(APPEND mbedtls_include_dirs "esp_crt_bundle/include")
@@ -88,6 +92,11 @@ set(Python3_EXECUTABLE ${python})
 # Needed to for include_next includes to work from within mbedtls
 include_directories("${COMPONENT_DIR}/port/include")
 
+# Needed to for mbedtls_rom includes to work from within mbedtls
+if(CONFIG_MBEDTLS_USE_CRYPTO_ROM_IMPL)
+    include_directories("${COMPONENT_DIR}/port/mbedtls_rom")
+endif()
+
 # Import mbedtls library targets
 add_subdirectory(mbedtls)
 
diff --git a/components/mbedtls/Kconfig b/components/mbedtls/Kconfig
index 0e754abd85..c15576cff9 100644
--- a/components/mbedtls/Kconfig
+++ b/components/mbedtls/Kconfig
@@ -1093,6 +1093,7 @@ menu "mbedTLS"
         select MBEDTLS_ROM_MD5
         select MBEDTLS_HARDWARE_SHA
         select MBEDTLS_ECP_RESTARTABLE
+        select MBEDTLS_THREADING_C
         help
             Enable this flag to use mbedtls crypto algorithm from ROM instead of ESP-IDF.
 
diff --git a/components/mbedtls/port/mbedtls_rom/mbedtls_rom_osi.c b/components/mbedtls/port/mbedtls_rom/mbedtls_rom_osi.c
index b02e098b3b..d29d03e966 100644
--- a/components/mbedtls/port/mbedtls_rom/mbedtls_rom_osi.c
+++ b/components/mbedtls/port/mbedtls_rom/mbedtls_rom_osi.c
@@ -19,9 +19,13 @@ void mbedtls_rom_osi_functions_init(void);
 
 static void mbedtls_rom_mutex_init( mbedtls_threading_mutex_t *mutex )
 {
-#if (!defined(CONFIG_MBEDTLS_THREADING_C))
-    ((void) mutex);
-    return;
+    if (mutex == NULL) {
+        return;
+    }
+
+#if defined(MBEDTLS_THREADING_ALT)
+    mutex->mutex = xSemaphoreCreateMutex();
+    assert(mutex->mutex != NULL);
 #else
     mbedtls_mutex_init(mutex);
 #endif
@@ -29,9 +33,12 @@ static void mbedtls_rom_mutex_init( mbedtls_threading_mutex_t *mutex )
 
 static void mbedtls_rom_mutex_free( mbedtls_threading_mutex_t *mutex )
 {
-#if (!defined(CONFIG_MBEDTLS_THREADING_C))
-    ((void) mutex);
-    return;
+    if (mutex == NULL) {
+        return;
+    }
+
+#if defined(MBEDTLS_THREADING_ALT)
+    vSemaphoreDelete(mutex->mutex);
 #else
     mbedtls_mutex_free(mutex);
 #endif
@@ -39,8 +46,14 @@ static void mbedtls_rom_mutex_free( mbedtls_threading_mutex_t *mutex )
 
 static int mbedtls_rom_mutex_lock( mbedtls_threading_mutex_t *mutex )
 {
-#if (!defined(CONFIG_MBEDTLS_THREADING_C))
-    ((void) mutex);
+    if (mutex == NULL) {
+        return MBEDTLS_ERR_THREADING_BAD_INPUT_DATA;
+    }
+
+#if defined(MBEDTLS_THREADING_ALT)
+    if (xSemaphoreTake(mutex->mutex, portMAX_DELAY) != pdTRUE) {
+        return MBEDTLS_ERR_THREADING_MUTEX_ERROR;
+    }
     return 0;
 #else
     return mbedtls_mutex_lock(mutex);
@@ -49,8 +62,14 @@ static int mbedtls_rom_mutex_lock( mbedtls_threading_mutex_t *mutex )
 
 static int mbedtls_rom_mutex_unlock( mbedtls_threading_mutex_t *mutex )
 {
-#if (!defined(CONFIG_MBEDTLS_THREADING_C))
-    ((void) mutex);
+    if (mutex == NULL) {
+        return MBEDTLS_ERR_THREADING_BAD_INPUT_DATA;
+    }
+
+#if defined(MBEDTLS_THREADING_ALT)
+    if (xSemaphoreGive(mutex->mutex) != pdTRUE) {
+        return MBEDTLS_ERR_THREADING_MUTEX_ERROR;
+    }
     return 0;
 #else
     return mbedtls_mutex_unlock(mutex);
@@ -430,11 +449,15 @@ __attribute__((constructor)) void mbedtls_rom_osi_functions_init(void)
     /* Export the rom mbedtls functions table pointer */
     extern void *mbedtls_rom_osi_funcs_ptr;
 
+#if defined(MBEDTLS_THREADING_ALT)
+    mbedtls_threading_set_alt(mbedtls_rom_mutex_init, mbedtls_rom_mutex_free, mbedtls_rom_mutex_lock, mbedtls_rom_mutex_unlock);
+#endif
+
     unsigned chip_version = efuse_hal_chip_revision();
     if ( ESP_CHIP_REV_ABOVE(chip_version, 200) ) {
         /* Initialize the rom function mbedtls_threading_set_alt on chip rev2.0 with rom eco4 */
-        mbedtls_threading_set_alt_t mbedtls_threading_set_alt = (mbedtls_threading_set_alt_t)0x40002c0c;
-        mbedtls_threading_set_alt(mbedtls_rom_mutex_init, mbedtls_rom_mutex_free, mbedtls_rom_mutex_lock, mbedtls_rom_mutex_unlock);
+        _rom_mbedtls_threading_set_alt_t rom_mbedtls_threading_set_alt = (_rom_mbedtls_threading_set_alt_t)0x40002c0c;
+        rom_mbedtls_threading_set_alt(mbedtls_rom_mutex_init, mbedtls_rom_mutex_free, mbedtls_rom_mutex_lock, mbedtls_rom_mutex_unlock);
 
         /* Initialize the pointer of rom eco4 mbedtls functions table. */
         mbedtls_rom_osi_funcs_ptr = (mbedtls_rom_eco4_funcs_t *)&mbedtls_rom_eco4_funcs_table;
diff --git a/components/mbedtls/port/mbedtls_rom/mbedtls_rom_osi.h b/components/mbedtls/port/mbedtls_rom/mbedtls_rom_osi.h
index 1d84d13fde..b612adfa55 100644
--- a/components/mbedtls/port/mbedtls_rom/mbedtls_rom_osi.h
+++ b/components/mbedtls/port/mbedtls_rom/mbedtls_rom_osi.h
@@ -44,12 +44,10 @@ extern "C" {
 #endif
 
 #if (!defined(CONFIG_MBEDTLS_THREADING_C))
-typedef struct mbedtls_threading_mutex_t {
-    int dummy;
-} mbedtls_threading_mutex_t;
+#error CONFIG_MBEDTLS_THREADING_C
 #endif
 
-typedef void (*mbedtls_threading_set_alt_t)(void (*mutex_init)(mbedtls_threading_mutex_t *),
+typedef void (*_rom_mbedtls_threading_set_alt_t)(void (*mutex_init)(mbedtls_threading_mutex_t *),
                                           void (*mutex_free)(mbedtls_threading_mutex_t *),
                                           int (*mutex_lock)(mbedtls_threading_mutex_t *),
                                           int (*mutex_unlock)(mbedtls_threading_mutex_t *));
diff --git a/components/mbedtls/port/mbedtls_rom/threading_alt.h b/components/mbedtls/port/mbedtls_rom/threading_alt.h
new file mode 100644
index 0000000000..6dc3349da1
--- /dev/null
+++ b/components/mbedtls/port/mbedtls_rom/threading_alt.h
@@ -0,0 +1,22 @@
+/*
+ * SPDX-FileCopyrightText: 2024 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+#pragma once
+
+#include "freertos/FreeRTOS.h"
+#include "freertos/semphr.h"
+
+typedef struct mbedtls_threading_mutex_t {
+    SemaphoreHandle_t mutex;
+    /* is_valid is 0 after a failed init or a free, and nonzero after a
+     * successful init. This field is not considered part of the public
+     * API of Mbed TLS and may change without notice. */
+    char is_valid;
+} mbedtls_threading_mutex_t;
+
+extern void mbedtls_threading_set_alt(void (*mutex_init)(mbedtls_threading_mutex_t *),
+                                      void (*mutex_free)(mbedtls_threading_mutex_t *),
+                                      int (*mutex_lock)(mbedtls_threading_mutex_t *),
+                                      int (*mutex_unlock)(mbedtls_threading_mutex_t *));