diff --git a/components/esp32s2/Kconfig b/components/esp32s2/Kconfig
index c9e4b6017..eb26ed6f6 100644
--- a/components/esp32s2/Kconfig
+++ b/components/esp32s2/Kconfig
@@ -498,6 +498,14 @@ menu "ESP32S2-specific"
             If enabled, this disables the linking of binary libraries in the application build. Note
             that after enabling this Wi-Fi/Bluetooth will not work.
 
+    config ESP32S2_KEEP_USB_ALIVE
+        bool "Keep USB peripheral enabled at start up" if !ESP_CONSOLE_USB_CDC
+        default y if ESP_CONSOLE_USB_CDC
+        help
+            During the application initialization process, all the peripherals except UARTs and timers
+            are reset. Enable this option to keep USB peripheral enabled.
+            This option is automatically enabled if "USB CDC" console is selected.
+
     config ESP32S2_RTCDATA_IN_FAST_MEM
         bool "Place RTC_DATA_ATTR and RTC_RODATA_ATTR variables into RTC fast memory segment"
         default n
diff --git a/components/esp_system/linker.lf b/components/esp_system/linker.lf
index 265841c63..e55780553 100644
--- a/components/esp_system/linker.lf
+++ b/components/esp_system/linker.lf
@@ -3,4 +3,25 @@ archive: libesp_system.a
 entries:
     panic (noflash)
     panic_handler (noflash)
-    system_api:esp_system_abort (noflash)
\ No newline at end of file
+    reset_reason (noflash)
+    system_api:esp_system_abort (noflash)
+
+    if ESP_CONSOLE_USB_CDC_SUPPORT_ETS_PRINTF:
+        usb_console:esp_usb_console_write_char (noflash)
+        usb_console:esp_usb_console_write_buf (noflash)
+        usb_console:esp_usb_console_flush_internal (noflash)
+        usb_console:esp_usb_console_osglue_wait_proc (noflash)
+        usb_console:esp_usb_console_osglue_dis_int (noflash)
+        usb_console:esp_usb_console_osglue_ena_int (noflash)
+        usb_console:esp_usb_console_interrupt (noflash)
+        usb_console:esp_usb_console_poll_interrupts (noflash)
+        usb_console:esp_usb_console_cdc_acm_cb (noflash)
+        usb_console:esp_usb_console_dfu_detach_cb (noflash)
+        usb_console:esp_usb_console_before_restart (noflash)
+
+[mapping:vfs_cdcacm]
+archive: libvfs.a
+entries:
+    if ESP_CONSOLE_USB_CDC_SUPPORT_ETS_PRINTF:
+        vfs_cdcacm:cdcacm_tx_cb (noflash)
+        vfs_cdcacm:cdcacm_rx_cb (noflash)
diff --git a/components/esp_system/panic.c b/components/esp_system/panic.c
index 7391bd0b0..720190bbd 100644
--- a/components/esp_system/panic.c
+++ b/components/esp_system/panic.c
@@ -19,6 +19,7 @@
 #include "esp_spi_flash.h"
 #include "esp_private/system_internal.h"
 #include "esp_private/gdbstub.h"
+#include "esp_private/usb_console.h"
 #include "esp_ota_ops.h"
 
 #if CONFIG_APPTRACE_ENABLE
@@ -62,6 +63,7 @@ static wdt_hal_context_t wdt1_context = {.inst = WDT_MWDT1, .mwdt_dev = &TIMERG1
 
 #if !CONFIG_ESP_SYSTEM_PANIC_SILENT_REBOOT
 
+#if CONFIG_ESP_CONSOLE_UART
 static uart_hal_context_t s_panic_uart = { .dev = CONFIG_ESP_CONSOLE_UART_NUM == 0 ? &UART0 : &UART1 };
 
 void panic_print_char(const char c)
@@ -70,6 +72,23 @@ void panic_print_char(const char c)
     while(!uart_hal_get_txfifo_len(&s_panic_uart));
     uart_hal_write_txfifo(&s_panic_uart, (uint8_t*) &c, 1, &sz);
 }
+#endif // CONFIG_ESP_CONSOLE_UART
+
+
+#if CONFIG_ESP_CONSOLE_USB_CDC
+void panic_print_char(const char c)
+{
+    esp_usb_console_write_buf(&c, 1);
+    /* result ignored */
+}
+#endif // CONFIG_ESP_CONSOLE_USB_CDC
+
+#if CONFIG_ESP_CONSOLE_NONE
+void panic_print_char(const char c)
+{
+    /* no-op */
+}
+#endif // CONFIG_ESP_CONSOLE_NONE
 
 void panic_print_str(const char *str)
 {
diff --git a/components/esp_system/port/cpu_start.c b/components/esp_system/port/cpu_start.c
index 9894176f0..4a4f8b0ec 100644
--- a/components/esp_system/port/cpu_start.c
+++ b/components/esp_system/port/cpu_start.c
@@ -355,7 +355,7 @@ void IRAM_ATTR call_start_cpu0(void)
     esp_perip_clk_init();
     intr_matrix_clear();
 
-#ifndef CONFIG_ESP_CONSOLE_UART_NONE
+#ifdef CONFIG_ESP_CONSOLE_UART
     const int uart_clk_freq = APB_CLK_FREQ;
     uart_div_modify(CONFIG_ESP_CONSOLE_UART_NUM, (uart_clk_freq << 4) / CONFIG_ESP_CONSOLE_UART_BAUDRATE);
 #endif
diff --git a/components/esp_system/port/esp32/clk.c b/components/esp_system/port/esp32/clk.c
index 247f4e0f0..cafc914a2 100644
--- a/components/esp_system/port/esp32/clk.c
+++ b/components/esp_system/port/esp32/clk.c
@@ -187,7 +187,9 @@ void esp_clk_init(void)
 
     // Wait for UART TX to finish, otherwise some UART output will be lost
     // when switching APB frequency
-    uart_tx_wait_idle(CONFIG_ESP_CONSOLE_UART_NUM);
+    if (CONFIG_ESP_CONSOLE_UART_NUM >= 0) {
+        uart_tx_wait_idle(CONFIG_ESP_CONSOLE_UART_NUM);
+    }
 
     rtc_clk_cpu_freq_set_config(&new_config);
 
diff --git a/components/esp_system/port/esp32s2/clk.c b/components/esp_system/port/esp32s2/clk.c
index e516df44f..07f820b67 100644
--- a/components/esp_system/port/esp32s2/clk.c
+++ b/components/esp_system/port/esp32s2/clk.c
@@ -132,7 +132,9 @@ void esp_clk_init(void)
 
     // Wait for UART TX to finish, otherwise some UART output will be lost
     // when switching APB frequency
-    uart_tx_wait_idle(CONFIG_ESP_CONSOLE_UART_NUM);
+    if (CONFIG_ESP_CONSOLE_UART_NUM >= 0) {
+        uart_tx_wait_idle(CONFIG_ESP_CONSOLE_UART_NUM);
+    }
 
     rtc_clk_cpu_freq_set_config(&new_config);
 
@@ -271,7 +273,9 @@ void esp_perip_clk_init(void)
 #if CONFIG_ESP_CONSOLE_UART_NUM != 1
                         DPORT_UART1_CLK_EN |
 #endif
+#ifndef CONFIG_ESP32S2_KEEP_USB_ALIVE
                         DPORT_USB_CLK_EN |
+#endif
                         DPORT_SPI2_CLK_EN |
                         DPORT_I2C_EXT0_CLK_EN |
                         DPORT_UHCI0_CLK_EN |
diff --git a/components/esp_system/startup.c b/components/esp_system/startup.c
index 85d0507c0..03c9df32c 100644
--- a/components/esp_system/startup.c
+++ b/components/esp_system/startup.c
@@ -50,6 +50,9 @@
 #include "esp_pm.h"
 #include "esp_private/pm_impl.h"
 #include "esp_pthread.h"
+#include "esp_private/usb_console.h"
+#include "esp_vfs_cdcacm.h"
+
 
 // [refactor-todo] make this file completely target-independent
 #if CONFIG_IDF_TARGET_ESP32
@@ -195,18 +198,25 @@ static void IRAM_ATTR do_core_init(void)
 #endif
 
 #ifdef CONFIG_VFS_SUPPORT_IO
+#ifdef CONFIG_ESP_CONSOLE_UART
     esp_vfs_dev_uart_register();
+    const char *default_stdio_dev = "/dev/uart/" STRINGIFY(CONFIG_ESP_CONSOLE_UART_NUM);
+#endif // CONFIG_ESP_CONSOLE_UART
+#ifdef CONFIG_ESP_CONSOLE_USB_CDC
+    ESP_ERROR_CHECK(esp_usb_console_init());
+    ESP_ERROR_CHECK(esp_vfs_dev_cdcacm_register());
+    const char *default_stdio_dev = "/dev/cdcacm";
+#endif // CONFIG_ESP_CONSOLE_USB_CDC
 #endif // CONFIG_VFS_SUPPORT_IO
 
-#if defined(CONFIG_VFS_SUPPORT_IO) && !defined(CONFIG_ESP_CONSOLE_UART_NONE)
+#if defined(CONFIG_VFS_SUPPORT_IO) && !defined(CONFIG_ESP_CONSOLE_NONE)
     esp_reent_init(_GLOBAL_REENT);
-    const char *default_uart_dev = "/dev/uart/" STRINGIFY(CONFIG_ESP_CONSOLE_UART_NUM);
-    _GLOBAL_REENT->_stdin  = fopen(default_uart_dev, "r");
-    _GLOBAL_REENT->_stdout = fopen(default_uart_dev, "w");
-    _GLOBAL_REENT->_stderr = fopen(default_uart_dev, "w");
-#else // defined(CONFIG_VFS_SUPPORT_IO) && !defined(CONFIG_ESP_CONSOLE_UART_NONE)
+    _GLOBAL_REENT->_stdin  = fopen(default_stdio_dev, "r");
+    _GLOBAL_REENT->_stdout = fopen(default_stdio_dev, "w");
+    _GLOBAL_REENT->_stderr = fopen(default_stdio_dev, "w");
+#else // defined(CONFIG_VFS_SUPPORT_IO) && !defined(CONFIG_ESP_CONSOLE_NONE)
     _REENT_SMALL_CHECK_INIT(_GLOBAL_REENT);
-#endif // defined(CONFIG_VFS_SUPPORT_IO) && !defined(CONFIG_ESP_CONSOLE_UART_NONE)
+#endif // defined(CONFIG_VFS_SUPPORT_IO) && !defined(CONFIG_ESP_CONSOLE_NONE)
 
 #ifdef CONFIG_SECURE_FLASH_ENC_ENABLED
     esp_flash_encryption_init_checks();
@@ -337,7 +347,7 @@ void IRAM_ATTR start_cpu0_default(void)
 
 IRAM_ATTR ESP_SYSTEM_INIT_FN(init_components0, BIT(0))
 {
-#ifdef CONFIG_PM_ENABLE
+#if defined(CONFIG_PM_ENABLE) && defined(CONFIG_ESP_CONSOLE_UART)
     const int uart_clk_freq = REF_CLK_FREQ;
     /* When DFS is enabled, use REFTICK as UART clock source */
     CLEAR_PERI_REG_MASK(UART_CONF0_REG(CONFIG_ESP_CONSOLE_UART_NUM), UART_TICK_REF_ALWAYS_ON);