diff --git a/components/lwip/Kconfig b/components/lwip/Kconfig
index 89f16e410..12b8e16d4 100644
--- a/components/lwip/Kconfig
+++ b/components/lwip/Kconfig
@@ -255,6 +255,14 @@ menu "LWIP"
             If rate limiting self-assignment requests, wait this long between
             each request.
 
+    config LWIP_IPV6_AUTOCONFIG
+        bool "Enable IPV6 stateless address autoconfiguration"
+        default n
+        help
+            Enabling this option allows the devices to IPV6 stateless address autoconfiguration.
+
+            See RFC 4862.
+
     menuconfig LWIP_NETIF_LOOPBACK
         bool "Support per-interface loopback"
         default y
diff --git a/components/lwip/port/esp32/include/lwipopts.h b/components/lwip/port/esp32/include/lwipopts.h
index 673ece01c..3475f2986 100644
--- a/components/lwip/port/esp32/include/lwipopts.h
+++ b/components/lwip/port/esp32/include/lwipopts.h
@@ -779,7 +779,6 @@
 #define ESP_THREAD_SAFE_DEBUG           LWIP_DBG_OFF
 #define ESP_DHCP                        1
 #define ESP_DNS                         1
-#define ESP_IPV6_AUTOCONFIG             1
 #define ESP_PERF                        0
 #define ESP_RANDOM_TCP_PORT             1
 #define ESP_IP4_ATON                    1
@@ -803,6 +802,10 @@
 #define ESP_LWIP_SELECT                 1
 #define ESP_LWIP_LOCK                   1
 
+#ifdef CONFIG_LWIP_IPV6_AUTOCONFIG
+#define ESP_IPV6_AUTOCONFIG             CONFIG_LWIP_IPV6_AUTOCONFIG
+#endif
+
 #ifdef ESP_IRAM_ATTR
 #undef ESP_IRAM_ATTR
 #endif