diff --git a/boards/risc-v/esp32c3/esp32c3-devkit/Kconfig b/boards/risc-v/esp32c3/esp32c3-devkit/Kconfig
index 153e528920d..0ab22836c86 100644
--- a/boards/risc-v/esp32c3/esp32c3-devkit/Kconfig
+++ b/boards/risc-v/esp32c3/esp32c3-devkit/Kconfig
@@ -41,6 +41,15 @@ config ESP32C3_DEVKIT_RUN_IRAM
 	bool "Run from IRAM"
 	default n
 
+config ESP32C3_MERGE_BINS
+	bool "Merge raw binary files into a single file"
+	default n
+	---help---
+		Merge the raw binary files into a single file for flashing to the
+		device.
+		This is only useful when the path to binary files (e.g. bootloader)
+		is provided via the ESPTOOL_BINDIR variable.
+
 choice
   prompt "SPIFLASH File System"
   default ESP32C3_SPIFLASH_SMARTFS
diff --git a/tools/esp32c3/Config.mk b/tools/esp32c3/Config.mk
index 9952f702a95..0659b70dabc 100644
--- a/tools/esp32c3/Config.mk
+++ b/tools/esp32c3/Config.mk
@@ -61,12 +61,39 @@ else
 endif
 
 ifdef ESPTOOL_BINDIR
-	BL_OFFSET := 0x0
-	PT_OFFSET := 0x8000
-	BOOTLOADER := $(ESPTOOL_BINDIR)/bootloader-esp32c3.bin
+	BL_OFFSET       := 0x0
+	PT_OFFSET       := 0x8000
+	BOOTLOADER      := $(ESPTOOL_BINDIR)/bootloader-esp32c3.bin
 	PARTITION_TABLE := $(ESPTOOL_BINDIR)/partition-table-esp32c3.bin
-	FLASH_BL := $(BL_OFFSET) $(BOOTLOADER)
-	FLASH_PT := $(PT_OFFSET) $(PARTITION_TABLE)
+	FLASH_BL        := $(BL_OFFSET) $(BOOTLOADER)
+	FLASH_PT        := $(PT_OFFSET) $(PARTITION_TABLE)
+	ESPTOOL_BINS    := $(FLASH_BL) $(FLASH_PT)
+endif
+
+ESPTOOL_BINS += 0x10000 nuttx.bin
+
+# MERGEBIN -- Merge raw binary files into a single file
+
+ifeq ($(CONFIG_ESP32C3_MERGE_BINS),y)
+define MERGEBIN
+	$(Q) if [ -z $(ESPTOOL_BINDIR) ]; then \
+		echo "MERGEBIN error: Missing argument for binary files directory."; \
+		echo "USAGE: make ESPTOOL_BINDIR=<dir>"; \
+		exit 1; \
+	fi
+	$(Q) if [ -z $(FLASH_SIZE) ]; then \
+		echo "Missing Flash memory size configuration for the ESP32-C3 chip."; \
+		exit 1; \
+	fi
+	$(eval ESPTOOL_MERGEBIN_OPTS := -fs $(FLASH_SIZE) -fm $(FLASH_MODE) -ff $(FLASH_FREQ))
+	esptool.py -c esp32c3 merge_bin --output nuttx.merged.bin $(ESPTOOL_MERGEBIN_OPTS) $(ESPTOOL_BINS)
+	$(Q) echo nuttx.merged.bin >> nuttx.manifest
+	$(Q) echo "Generated: nuttx.merged.bin"
+endef
+else
+define MERGEBIN
+
+endef
 endif
 
 # POSTBUILD -- Perform post build operations
@@ -86,6 +113,7 @@ define POSTBUILD
 	fi
 	esptool.py -c esp32c3 elf2image $(ESPTOOL_ELF2IMG_OPTS) -o nuttx.bin nuttx
 	$(Q) echo "Generated: nuttx.bin (ESP32-C3 compatible)"
+	$(call MERGEBIN)
 endef
 
 # ESPTOOL_BAUD -- Serial port baud rate used when flashing/reading via esptool.py
@@ -95,9 +123,6 @@ ESPTOOL_BAUD ?= 921600
 # DOWNLOAD -- Download binary image via esptool.py
 
 define DOWNLOAD
-
-	$(eval ESPTOOL_BINS := $(FLASH_BL) $(FLASH_PT) 0x10000 $(1).bin)
-
 	$(Q) if [ -z $(ESPTOOL_PORT) ]; then \
 		echo "DOWNLOAD error: Missing serial port device argument."; \
 		echo "USAGE: make download ESPTOOL_PORT=<port> [ ESPTOOL_BAUD=<baud> ]"; \