diff --git a/CMakeLists.txt b/CMakeLists.txt
index a8599ef6dd..9ac96367fc 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -9,6 +9,9 @@ elseif(${target} STREQUAL "esp32s2")
 elseif(${target} STREQUAL "esp32p4")
     set(tusb_mcu "OPT_MCU_ESP32P4")
     set(tusb_family "esp32px")
+elseif(${target} STREQUAL "esp32h4")
+    set(tusb_mcu "OPT_MCU_ESP32H4")
+    set(tusb_family "esp32sx")
 endif()
 
 set(compile_options
diff --git a/README.rst b/README.rst
index efbfa354ba..40b9956267 100644
--- a/README.rst
+++ b/README.rst
@@ -118,6 +118,8 @@ Supported CPUs
 | Espressif    | S2, S3                      | ✔      | ✔    | ✖         | dwc2 or esp32sx        |                   |
 |   ESP32      +-----------------------------+--------+------+-----------+------------------------+-------------------+
 |              | P4                          | ✔      | ✔    | ✔         | dwc2                   |                   |
+|              +-----------------------------+--------+------+-----------+------------------------+-------------------+
+|              | H4                          | ✔      | ✔    | ✖         | dwc2                   |                   |
 +--------------+----+------------------------+--------+------+-----------+------------------------+-------------------+
 | GigaDevice   | GD32VF103                   | ✔      |      | ✖         | dwc2                   |                   |
 +--------------+-----------------------------+--------+------+-----------+------------------------+-------------------+
diff --git a/hw/bsp/espressif/boards/family.c b/hw/bsp/espressif/boards/family.c
index 7049c04157..993212bf79 100644
--- a/hw/bsp/espressif/boards/family.c
+++ b/hw/bsp/espressif/boards/family.c
@@ -88,7 +88,7 @@ void board_init(void) {
   gpio_set_direction(BUTTON_PIN, GPIO_MODE_INPUT);
   gpio_set_pull_mode(BUTTON_PIN, BUTTON_STATE_ACTIVE ? GPIO_PULLDOWN_ONLY : GPIO_PULLUP_ONLY);
 
-#if TU_CHECK_MCU(OPT_MCU_ESP32S2, OPT_MCU_ESP32S3, OPT_MCU_ESP32P4)
+#if TU_CHECK_MCU(OPT_MCU_ESP32S2, OPT_MCU_ESP32S3, OPT_MCU_ESP32H4, OPT_MCU_ESP32P4)
   usb_init();
 #endif
 
@@ -103,7 +103,7 @@ void board_init(void) {
 #endif
 }
 
-#if TU_CHECK_MCU(OPT_MCU_ESP32S2, OPT_MCU_ESP32S3)
+#if TU_CHECK_MCU(OPT_MCU_ESP32S2, OPT_MCU_ESP32S3, OPT_MCU_ESP32H4)
 
 #endif
 
@@ -158,7 +158,7 @@ int board_getchar(void) {
 // PHY Init
 //--------------------------------------------------------------------
 
-#if TU_CHECK_MCU(OPT_MCU_ESP32S2, OPT_MCU_ESP32S3, OPT_MCU_ESP32P4)
+#if TU_CHECK_MCU(OPT_MCU_ESP32S2, OPT_MCU_ESP32S3, OPT_MCU_ESP32H4, OPT_MCU_ESP32P4)
 #if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(5, 3, 0)
 
 #include "esp_private/usb_phy.h"
diff --git a/idf_component.yml b/idf_component.yml
index b038f9b71d..91ff2d29d9 100644
--- a/idf_component.yml
+++ b/idf_component.yml
@@ -9,3 +9,4 @@ targets:
   - esp32s2
   - esp32s3
   - esp32p4
+  - esp32h4
diff --git a/src/common/tusb_mcu.h b/src/common/tusb_mcu.h
index a0175d664a..cdb23aa792 100644
--- a/src/common/tusb_mcu.h
+++ b/src/common/tusb_mcu.h
@@ -363,7 +363,7 @@
 //--------------------------------------------------------------------+
 // Espressif
 //--------------------------------------------------------------------+
-#elif TU_CHECK_MCU(OPT_MCU_ESP32S2, OPT_MCU_ESP32S3)
+#elif TU_CHECK_MCU(OPT_MCU_ESP32S2, OPT_MCU_ESP32S3, OPT_MCU_ESP32H4)
   #define TUP_USBIP_DWC2
   #define TUP_USBIP_DWC2_ESP32
   #define TUP_DCD_ENDPOINT_MAX    7 // only 5 TX FIFO for endpoint IN
diff --git a/src/portable/synopsys/dwc2/dwc2_esp32.h b/src/portable/synopsys/dwc2/dwc2_esp32.h
index 3309760ffe..8344080b4c 100644
--- a/src/portable/synopsys/dwc2/dwc2_esp32.h
+++ b/src/portable/synopsys/dwc2/dwc2_esp32.h
@@ -47,6 +47,23 @@ static const dwc2_controller_t _dwc2_controller[] = {
   { .reg_base = DWC2_FS_REG_BASE, .irqnum = ETS_USB_INTR_SOURCE, .ep_count = 7, .ep_in_count = 5, .ep_fifo_size = 1024 }
 };
 
+#elif TU_CHECK_MCU(OPT_MCU_ESP32H4)
+// H4's USB_WRAP register block uses "wrap_*" field names. Map them to the
+// names used by TinyUSB's DWC2 port to keep the source unchanged.
+#define otg_conf                wrap_otg_conf
+#define pad_pull_override       wrap_pad_pull_override
+#define dp_pullup               wrap_dp_pullup
+#define dp_pulldown             wrap_dp_pulldown
+#define dm_pullup               wrap_dm_pullup
+#define dm_pulldown             wrap_dm_pulldown
+
+#define DWC2_FS_REG_BASE   0x60040000UL
+#define DWC2_EP_MAX        7
+
+static const dwc2_controller_t _dwc2_controller[] = {
+  { .reg_base = DWC2_FS_REG_BASE, .irqnum = ETS_USB_OTG11_INTR_SOURCE, .ep_count = 7, .ep_in_count = 5, .ep_fifo_size = 1024 }
+};
+
 #elif TU_CHECK_MCU(OPT_MCU_ESP32P4)
 #define DWC2_FS_REG_BASE   0x50040000UL
 #define DWC2_HS_REG_BASE   0x50000000UL
diff --git a/src/tusb_option.h b/src/tusb_option.h
index 29fdcb0d65..e8653ceafa 100644
--- a/src/tusb_option.h
+++ b/src/tusb_option.h
@@ -127,6 +127,7 @@
 #define OPT_MCU_ESP32C2           905 ///< Espressif ESP32-C2
 #define OPT_MCU_ESP32H2           906 ///< Espressif ESP32-H2
 #define OPT_MCU_ESP32P4           907 ///< Espressif ESP32-P4
+#define OPT_MCU_ESP32H4           910 ///< Espressif ESP32-H4, 908, 909 are already used in the upstream
 #define TUSB_MCU_VENDOR_ESPRESSIF (CFG_TUSB_MCU >= 900 && CFG_TUSB_MCU < 1000) // check if Espressif MCU
 #define TUP_MCU_ESPRESSIF        TUSB_MCU_VENDOR_ESPRESSIF //  for backward compatibility