diff --git a/components/lwip/Kconfig b/components/lwip/Kconfig
index 78fb9bcf23..ce74095d88 100644
--- a/components/lwip/Kconfig
+++ b/components/lwip/Kconfig
@@ -1085,6 +1085,11 @@ menu "LWIP"
         depends on LWIP_DEBUG
         default n
 
+    config LWIP_UDP_DEBUG
+        bool "Enable UDP debug messages"
+        depends on LWIP_DEBUG
+        default n
+
     config LWIP_SNTP_DEBUG
         bool "Enable SNTP debug messages"
         depends on LWIP_DEBUG
diff --git a/components/lwip/port/esp32/include/lwipopts.h b/components/lwip/port/esp32/include/lwipopts.h
index 6b50607528..f9ea53198e 100644
--- a/components/lwip/port/esp32/include/lwipopts.h
+++ b/components/lwip/port/esp32/include/lwipopts.h
@@ -1320,6 +1320,15 @@ static inline uint32_t timeout_from_offered(uint32_t lease, uint32_t min)
 #define TCP_DEBUG                        LWIP_DBG_OFF
 #endif
 
+/**
+ * UDP_DEBUG: Enable debugging for UDP.
+ */
+#ifdef CONFIG_LWIP_UDP_DEBUG
+#define UDP_DEBUG                        LWIP_DBG_ON
+#else
+#define UDP_DEBUG                        LWIP_DBG_OFF
+#endif
+
 /**
  * SNTP_DEBUG: Enable debugging for SNTP.
  */