diff --git a/arch/xtensa/src/esp32/esp32_gpio.c b/arch/xtensa/src/esp32/esp32_gpio.c
index e7a9ed2535..a429b23b43 100644
--- a/arch/xtensa/src/esp32/esp32_gpio.c
+++ b/arch/xtensa/src/esp32/esp32_gpio.c
@@ -163,6 +163,18 @@ static int gpio_interrupt(int irq, FAR void *context, FAR void *arg)
  * Description:
  *   Configure a GPIO pin based on encoded pin attributes.
  *
+ * Input Parameters:
+ *   pin  - GPIO pin to be configured
+ *   attr - Attributes to be configured for the selected GPIO pin.
+ *          The following attributes are accepted:
+ *          - Direction (OUTPUT or INPUT)
+ *          - Pull (PULLUP, PULLDOWN or OPENDRAIN)
+ *          - Function (if not provided, assume function GPIO by default)
+ *          - Drive strength (if not provided, assume DRIVE_2 by default)
+ *
+ * Returned Value:
+ *   Zero (OK) on success, or -1 (ERROR) in case of failure.
+ *
  ****************************************************************************/
 
 int esp32_configgpio(int pin, gpio_pinattr_t attr)
@@ -281,23 +293,34 @@ int esp32_configgpio(int pin, gpio_pinattr_t attr)
         }
     }
 
-  /* Add drivers */
-
-  func |= (uint32_t)(2ul << FUN_DRV_S);
-
-  /* Select the pad's function.  If no function was given, consider it a
-   * normal input or output (i.e. function3).
-   */
+  /* Configure the pad's function */
 
   if ((attr & FUNCTION_MASK) != 0)
     {
-      func |= (uint32_t)(((attr >> FUNCTION_SHIFT) - 1) << MCU_SEL_S);
+      uint32_t val = ((attr & FUNCTION_MASK) >> FUNCTION_SHIFT) - 1;
+      func |= val << MCU_SEL_S;
     }
   else
     {
+      /* Function not provided, assuming function GPIO by default */
+
       func |= (uint32_t)(PIN_FUNC_GPIO << MCU_SEL_S);
     }
 
+  /* Configure the pad's drive strength */
+
+  if ((attr & DRIVE_MASK) != 0)
+    {
+      uint32_t val = ((attr & DRIVE_MASK) >> DRIVE_SHIFT) - 1;
+      func |= val << FUN_DRV_S;
+    }
+  else
+    {
+      /* Drive strength not provided, assuming strength 2 by default */
+
+      func |= UINT32_C(2) << FUN_DRV_S;
+    }
+
   if ((attr & OPEN_DRAIN) != 0)
     {
       cntrl |= (1 << GPIO_PIN_PAD_DRIVER_S);
diff --git a/arch/xtensa/src/esp32/esp32_gpio.h b/arch/xtensa/src/esp32/esp32_gpio.h
index 84a63e4add..06f677fbee 100644
--- a/arch/xtensa/src/esp32/esp32_gpio.h
+++ b/arch/xtensa/src/esp32/esp32_gpio.h
@@ -56,6 +56,7 @@
 #define PULLUP              (1 << 3)
 #define PULLDOWN            (1 << 4)
 #define OPEN_DRAIN          (1 << 5)
+
 #define FUNCTION_SHIFT      6
 #define FUNCTION_MASK       (7 << FUNCTION_SHIFT)
 #  define FUNCTION_1        (1 << FUNCTION_SHIFT)
@@ -65,6 +66,13 @@
 #  define FUNCTION_5        (5 << FUNCTION_SHIFT)
 #  define FUNCTION_6        (6 << FUNCTION_SHIFT)
 
+#define DRIVE_SHIFT         9
+#define DRIVE_MASK          (7 << DRIVE_SHIFT)
+#  define DRIVE_0           (1 << DRIVE_SHIFT)
+#  define DRIVE_1           (2 << DRIVE_SHIFT)
+#  define DRIVE_2           (3 << DRIVE_SHIFT)
+#  define DRIVE_3           (4 << DRIVE_SHIFT)
+
 #define INPUT_PULLUP        (INPUT | PULLUP)
 #define INPUT_PULLDOWN      (INPUT | PULLDOWN)
 #define OUTPUT_OPEN_DRAIN   (OUTPUT | OPEN_DRAIN)
@@ -147,6 +155,18 @@ void esp32_gpioirqinitialize(void);
  * Description:
  *   Configure a GPIO pin based on encoded pin attributes.
  *
+ * Input Parameters:
+ *   pin  - GPIO pin to be configured
+ *   attr - Attributes to be configured for the selected GPIO pin.
+ *          The following attributes are accepted:
+ *          - Direction (OUTPUT or INPUT)
+ *          - Pull (PULLUP, PULLDOWN or OPENDRAIN)
+ *          - Function (if not provided, assume function GPIO by default)
+ *          - Drive strength (if not provided, assume DRIVE_2 by default)
+ *
+ * Returned Value:
+ *   Zero (OK) on success, or -1 (ERROR) in case of failure.
+ *
  ****************************************************************************/
 
 int esp32_configgpio(int pin, gpio_pinattr_t attr);