diff --git a/drivers/gpio/gpio_esp32.c b/drivers/gpio/gpio_esp32.c
index 3851200b181..7a1b6790388 100644
--- a/drivers/gpio/gpio_esp32.c
+++ b/drivers/gpio/gpio_esp32.c
@@ -20,7 +20,7 @@
 #include <zephyr/device.h>
 #include <zephyr/drivers/gpio.h>
 #include <zephyr/dt-bindings/gpio/espressif-esp32-gpio.h>
-#ifdef CONFIG_SOC_SERIES_ESP32C3
+#if defined(CONFIG_SOC_SERIES_ESP32C3) || defined(CONFIG_SOC_SERIES_ESP32C6)
 #include <zephyr/drivers/interrupt_controller/intc_esp32c3.h>
 #else
 #include <zephyr/drivers/interrupt_controller/intc_esp32.h>
@@ -42,6 +42,15 @@ LOG_MODULE_REGISTER(gpio_esp32, CONFIG_LOG_DEFAULT_LEVEL);
 /* arch_curr_cpu() is not available for riscv based chips */
 #define CPU_ID()  0
 #define ISR_HANDLER isr_handler_t
+#elif defined(CONFIG_SOC_SERIES_ESP32C6)
+/* gpio structs in esp32c6 are also different */
+#define out out.out_data_orig
+#define in in.in_data_next
+#define out_w1ts out_w1ts.val
+#define out_w1tc out_w1tc.val
+/* arch_curr_cpu() is not available for riscv based chips */
+#define CPU_ID()  0
+#define ISR_HANDLER isr_handler_t
 #else
 #define CPU_ID() arch_curr_cpu()->id
 #define ISR_HANDLER intr_handler_t
diff --git a/drivers/pinctrl/pinctrl_esp32.c b/drivers/pinctrl/pinctrl_esp32.c
index 71049f5b1cb..581cc2b2dc6 100644
--- a/drivers/pinctrl/pinctrl_esp32.c
+++ b/drivers/pinctrl/pinctrl_esp32.c
@@ -18,6 +18,12 @@
 #define in in.data
 #define out_w1ts out_w1ts.val
 #define out_w1tc out_w1tc.val
+#elif CONFIG_SOC_SERIES_ESP32C6
+/* gpio structs in esp32c6 are also different */
+#define out out.out_data_orig
+#define in in.in_data_next
+#define out_w1ts out_w1ts.val
+#define out_w1tc out_w1tc.val
 #endif
 
 #ifndef SOC_GPIO_SUPPORT_RTC_INDEPENDENT
diff --git a/drivers/serial/Kconfig.esp32 b/drivers/serial/Kconfig.esp32
index f6fa5ac9d93..8f7f35a630c 100644
--- a/drivers/serial/Kconfig.esp32
+++ b/drivers/serial/Kconfig.esp32
@@ -7,7 +7,7 @@ config UART_ESP32
 	depends on DT_HAS_ESPRESSIF_ESP32_UART_ENABLED
 	select SERIAL_HAS_DRIVER
 	select SERIAL_SUPPORT_INTERRUPT
-	select SERIAL_SUPPORT_ASYNC if (SOC_SERIES_ESP32C3 || SOC_SERIES_ESP32S3)
+	select SERIAL_SUPPORT_ASYNC if (SOC_SERIES_ESP32C3 || SOC_SERIES_ESP32C6 || SOC_SERIES_ESP32S3)
 	select GPIO_ESP32
 	help
 	  Enable the ESP32 UART.
@@ -20,7 +20,7 @@ config SERIAL_ESP32_USB
 	select SERIAL_SUPPORT_INTERRUPT
 	help
 	  Enable the built-in USB serial interface present in some Espressif
-	  MCUs like the ESP32-C3.
+	  MCUs like ESP32-Cx.
 
 	  This driver uses the peripheral called USB Serial/JTAG Controller
 	  (USB_SERIAL_JTAG), which acts as a CDC-ACM interface towards the
diff --git a/drivers/serial/serial_esp32_usb.c b/drivers/serial/serial_esp32_usb.c
index 14e4b798a8f..5b26ca00863 100644
--- a/drivers/serial/serial_esp32_usb.c
+++ b/drivers/serial/serial_esp32_usb.c
@@ -13,7 +13,7 @@
 #include <errno.h>
 #include <soc.h>
 #include <zephyr/drivers/uart.h>
-#if defined(CONFIG_SOC_SERIES_ESP32C3)
+#if defined(CONFIG_SOC_SERIES_ESP32C3) || defined(CONFIG_SOC_SERIES_ESP32C6)
 #include <zephyr/drivers/interrupt_controller/intc_esp32c3.h>
 #else
 #include <zephyr/drivers/interrupt_controller/intc_esp32.h>
@@ -22,7 +22,7 @@
 #include <zephyr/sys/util.h>
 #include <esp_attr.h>
 
-#ifdef CONFIG_SOC_SERIES_ESP32C3
+#if defined(CONFIG_SOC_SERIES_ESP32C3) || defined(CONFIG_SOC_SERIES_ESP32C6)
 #define ISR_HANDLER isr_handler_t
 #else
 #define ISR_HANDLER intr_handler_t
diff --git a/drivers/serial/uart_esp32.c b/drivers/serial/uart_esp32.c
index 0bbc3fb4d2d..9bf0c3bb17c 100644
--- a/drivers/serial/uart_esp32.c
+++ b/drivers/serial/uart_esp32.c
@@ -25,6 +25,10 @@
 #include <esp32c3/rom/ets_sys.h>
 #include <esp32c3/rom/gpio.h>
 #include <zephyr/dt-bindings/clock/esp32c3_clock.h>
+#elif defined(CONFIG_SOC_SERIES_ESP32C6)
+#include <esp32c6/rom/ets_sys.h>
+#include <esp32c6/rom/gpio.h>
+#include <zephyr/dt-bindings/clock/esp32c6_clock.h>
 #endif
 #ifdef CONFIG_UART_ASYNC_API
 #include <zephyr/drivers/dma.h>
@@ -43,19 +47,21 @@
 #include <soc.h>
 #include <zephyr/drivers/uart.h>
 
-#ifndef CONFIG_SOC_SERIES_ESP32C3
-#include <zephyr/drivers/interrupt_controller/intc_esp32.h>
-#else
+#if defined(CONFIG_SOC_SERIES_ESP32C3) || defined(CONFIG_SOC_SERIES_ESP32C6)
 #include <zephyr/drivers/interrupt_controller/intc_esp32c3.h>
+#else
+#include <zephyr/drivers/interrupt_controller/intc_esp32.h>
 #endif
+
 #include <zephyr/drivers/clock_control.h>
 #include <errno.h>
 #include <zephyr/sys/util.h>
 #include <esp_attr.h>
 #include <zephyr/logging/log.h>
+
 LOG_MODULE_REGISTER(uart_esp32, CONFIG_UART_LOG_LEVEL);
 
-#ifdef CONFIG_SOC_SERIES_ESP32C3
+#if defined(CONFIG_SOC_SERIES_ESP32C3) || defined(CONFIG_SOC_SERIES_ESP32C6)
 #define ISR_HANDLER isr_handler_t
 #else
 #define ISR_HANDLER intr_handler_t
@@ -257,7 +263,7 @@ static int uart_esp32_configure(const struct device *dev, const struct uart_conf
 
 	clock_control_on(config->clock_dev, config->clock_subsys);
 
-	uart_hal_set_sclk(&data->hal, UART_SCLK_APB);
+	uart_hal_set_sclk(&data->hal, UART_SCLK_DEFAULT);
 	uart_hal_set_rxfifo_full_thr(&data->hal, UART_RX_FIFO_THRESH);
 	uart_hal_set_txfifo_empty_thr(&data->hal, UART_TX_FIFO_THRESH);
 	uart_hal_rxfifo_rst(&data->hal);
diff --git a/drivers/timer/Kconfig.esp32 b/drivers/timer/Kconfig.esp32
index 0634c3f0cb2..4dd289287e2 100644
--- a/drivers/timer/Kconfig.esp32
+++ b/drivers/timer/Kconfig.esp32
@@ -5,7 +5,7 @@
 
 config ESP32_SYS_TIMER
 	bool "ESP32 sys-timer support (ESP32Cx series)"
-	depends on SOC_SERIES_ESP32C3
+	depends on SOC_SERIES_ESP32C3 || SOC_SERIES_ESP32C6
 	default y
 	select TICKLESS_CAPABLE
 	select TIMER_HAS_64BIT_CYCLE_COUNTER
diff --git a/drivers/timer/esp32_sys_timer.c b/drivers/timer/esp32_sys_timer.c
index 770a89edbdf..2eeb71d1524 100644
--- a/drivers/timer/esp32_sys_timer.c
+++ b/drivers/timer/esp32_sys_timer.c
@@ -5,9 +5,7 @@
  */
 #include <soc/soc_caps.h>
 #include <soc/soc.h>
-#include <soc/interrupt_core0_reg.h>
-#include <soc/periph_defs.h>
-#include <soc/system_reg.h>
+
 #include <hal/systimer_hal.h>
 #include <hal/systimer_ll.h>
 #include <esp_private/systimer.h>