diff --git a/components/lwip/Kconfig b/components/lwip/Kconfig
index bb6aa939d..6c8c86b17 100644
--- a/components/lwip/Kconfig
+++ b/components/lwip/Kconfig
@@ -240,6 +240,14 @@ config LWIP_AUTOIP_RATE_LIMIT_INTERVAL
         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 f9ee9806c..7d48f7bdd 100644
--- a/components/lwip/port/esp32/include/lwipopts.h
+++ b/components/lwip/port/esp32/include/lwipopts.h
@@ -759,7 +759,6 @@
 #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_IP4_ATON                    1
 #define ESP_LIGHT_SLEEP                 1
@@ -775,6 +774,10 @@
 #define ESP_AUTO_RECV                   1
 #define ESP_GRATUITOUS_ARP              CONFIG_ESP_GRATUITOUS_ARP
 
+#ifdef CONFIG_LWIP_IPV6_AUTOCONFIG
+#define ESP_IPV6_AUTOCONFIG             CONFIG_LWIP_IPV6_AUTOCONFIG
+#endif
+
 #if CONFIG_LWIP_IRAM_OPTIMIZATION
 #define ESP_IRAM_ATTR                   IRAM_ATTR
 #else