diff --git a/arch/xtensa/src/esp32/esp32_cpustart.c b/arch/xtensa/src/esp32/esp32_cpustart.c
index 86fdb5334e..5ffd624833 100644
--- a/arch/xtensa/src/esp32/esp32_cpustart.c
+++ b/arch/xtensa/src/esp32/esp32_cpustart.c
@@ -196,6 +196,10 @@ void IRAM_ATTR xtensa_appcpu_start(void)
   up_irq_enable();
 #endif
 
+#if XCHAL_CP_NUM > 0
+  xtensa_set_cpenable(CONFIG_XTENSA_CP_INITSET);
+#endif
+
   /* Then switch contexts. This instantiates the exception context of the
    * tcb at the head of the assigned task list.  In this case, this should
    * be the CPUs NULL task.
diff --git a/arch/xtensa/src/esp32s3/esp32s3_cpustart.c b/arch/xtensa/src/esp32s3/esp32s3_cpustart.c
index ad0857f506..d4e5a45e8d 100644
--- a/arch/xtensa/src/esp32s3/esp32s3_cpustart.c
+++ b/arch/xtensa/src/esp32s3/esp32s3_cpustart.c
@@ -164,6 +164,10 @@ void xtensa_appcpu_start(void)
   up_irq_enable();
 #endif
 
+#if XCHAL_CP_NUM > 0
+  xtensa_set_cpenable(CONFIG_XTENSA_CP_INITSET);
+#endif
+
   /* Then switch contexts. This instantiates the exception context of the
    * tcb at the head of the assigned task list.  In this case, this should
    * be the CPUs NULL task.