diff --git a/arch/xtensa/src/esp32/Kconfig b/arch/xtensa/src/esp32/Kconfig
index 477c83cf699..c4f2e5bef79 100644
--- a/arch/xtensa/src/esp32/Kconfig
+++ b/arch/xtensa/src/esp32/Kconfig
@@ -277,6 +277,8 @@ endif # ESP32_OPENETH
 config ESP32_I2C
 	bool
 	default n
+	select I2C
+	select I2C_DRIVER
 
 config ESP32_TWAI
 	bool