diff --git a/boards/xtensa/esp32/esp32-devkitc/src/Make.defs b/boards/xtensa/esp32/esp32-devkitc/src/Make.defs
index dcc7c6b43c..61a924829b 100644
--- a/boards/xtensa/esp32/esp32-devkitc/src/Make.defs
+++ b/boards/xtensa/esp32/esp32-devkitc/src/Make.defs
@@ -51,6 +51,10 @@ ifeq ($(CONFIG_ARCH_BUTTONS),y)
 CSRCS += esp32_buttons.c
 endif
 
+ifeq ($(CONFIG_ESP32_TWAI),y)
+CSRCS += esp32_twai.c
+endif
+
 SCRIPTOUT = $(BOARD_DIR)$(DELIM)scripts$(DELIM)esp32_out.ld
 
 .PHONY = context distclean
diff --git a/boards/xtensa/esp32/esp32-devkitc/src/esp32_bringup.c b/boards/xtensa/esp32/esp32-devkitc/src/esp32_bringup.c
index 4021306a3c..e781007238 100644
--- a/boards/xtensa/esp32/esp32-devkitc/src/esp32_bringup.c
+++ b/boards/xtensa/esp32/esp32-devkitc/src/esp32_bringup.c
@@ -245,6 +245,17 @@ int esp32_bringup(void)
     }
 #endif /* CONFIG_ESP32_LEDC */
 
+#ifdef CONFIG_ESP32_TWAI
+
+  /* Initialize TWAI and register the TWAI driver. */
+
+  ret = esp32_twai_setup();
+  if (ret < 0)
+    {
+      syslog(LOG_ERR, "ERROR: esp32_twai_setup failed: %d\n", ret);
+    }
+#endif
+
 #ifdef CONFIG_ESP32_RT_TIMER
   ret = esp32_rt_timer_init();
   if (ret < 0)
diff --git a/boards/xtensa/esp32/esp32-devkitc/src/esp32_twai.c b/boards/xtensa/esp32/esp32-devkitc/src/esp32_twai.c
new file mode 100644
index 0000000000..77ffa2f801
--- /dev/null
+++ b/boards/xtensa/esp32/esp32-devkitc/src/esp32_twai.c
@@ -0,0 +1,93 @@
+/****************************************************************************
+ * boards/xtensa/esp32/esp32-devkitc/src/esp32_twai.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <errno.h>
+#include <debug.h>
+
+#include <nuttx/can/can.h>
+#include <arch/board/board.h>
+
+#include "chip.h"
+/* #include "arm_arch.h" */
+
+#include "esp32_twai.h"
+#include "esp32-devkitc.h"
+
+#ifdef CONFIG_CAN
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/* Configuration ************************************************************/
+
+#define TWAI_PORT0 0
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: esp32_twai_setup
+ *
+ * Description:
+ *  Initialize TWAI and register the TWAI device
+ *
+ ****************************************************************************/
+
+int esp32_twai_setup(void)
+{
+#ifdef CONFIG_ESP32_TWAI0
+  struct can_dev_s *twai;
+  int ret;
+
+  /* Call esp32_twaiinitialize() to get an instance of the TWAI0
+   * interface
+   * */
+
+  twai = esp32_twaiinitialize(TWAI_PORT0);
+  if (twai == NULL)
+    {
+      canerr("ERROR:  Failed to get TWAI0 interface\n");
+      return -ENODEV;
+    }
+
+  /* Register the TWAI0 driver at "/dev/can0" */
+
+  ret = can_register("/dev/can0", twai);
+  if (ret < 0)
+    {
+      canerr("ERROR: TWAI1 register failed: %d\n", ret);
+      return ret;
+    }
+
+  return OK;
+#else
+  return -ENODEV;
+#endif
+}
+
+#endif /* CONFIG_CAN */