diff --git a/boards/xtensa/esp32/esp32-devkitc/include/board.h b/boards/xtensa/esp32/esp32-devkitc/include/board.h
index 54d7e2d7e8..f1a6e7074c 100644
--- a/boards/xtensa/esp32/esp32-devkitc/include/board.h
+++ b/boards/xtensa/esp32/esp32-devkitc/include/board.h
@@ -76,4 +76,10 @@
 
 #define BOARD_NLEDS       1
 
+/* GPIO pins used by the GPIO Subsystem */
+
+#define BOARD_NGPIOOUT    1 /* Amount of GPIO Output pins */
+#define BOARD_NGPIOIN     1 /* Amount of GPIO Input without Interruption */
+#define BOARD_NGPIOINT    1 /* Amount of GPIO Input w/ Interruption pins */
+
 #endif /* __BOARDS_XTENSA_ESP32_ESP32_CORE_INCLUDE_BOARD_H */
diff --git a/boards/xtensa/esp32/esp32-devkitc/src/Make.defs b/boards/xtensa/esp32/esp32-devkitc/src/Make.defs
index 011c7e3aa6..1822fa5e12 100644
--- a/boards/xtensa/esp32/esp32-devkitc/src/Make.defs
+++ b/boards/xtensa/esp32/esp32-devkitc/src/Make.defs
@@ -45,6 +45,10 @@ ifeq ($(CONFIG_ESP32_SPIFLASH),y)
 CSRCS += esp32_spiflash.c
 endif
 
+ifeq ($(CONFIG_DEV_GPIO),y)
+CSRCS += esp32_gpio.c
+endif
+
 ifeq ($(CONFIG_USERLED),y)
 CSRCS += esp32_userleds.c
 endif
diff --git a/boards/xtensa/esp32/esp32-devkitc/src/esp32-devkitc.h b/boards/xtensa/esp32/esp32-devkitc/src/esp32-devkitc.h
index f9e519dd43..7f75261d2a 100644
--- a/boards/xtensa/esp32/esp32-devkitc/src/esp32-devkitc.h
+++ b/boards/xtensa/esp32/esp32-devkitc/src/esp32-devkitc.h
@@ -128,5 +128,13 @@ int esp32_spiflash_init(void);
 void esp32_spiflash_encrypt_test(void);
 #endif
 
+/****************************************************************************
+ * Name: esp32_gpio_init
+ ****************************************************************************/
+
+#ifdef CONFIG_DEV_GPIO
+int esp32_gpio_init(void);
+#endif
+
 #endif /* __ASSEMBLY__ */
 #endif /* __BOARDS_XTENSA_ESP32_ESP32_CORE_SRC_ESP32_CORE_H */
diff --git a/boards/xtensa/esp32/esp32-devkitc/src/esp32_bringup.c b/boards/xtensa/esp32/esp32-devkitc/src/esp32_bringup.c
index 850dbc2f7a..e740e5b897 100644
--- a/boards/xtensa/esp32/esp32-devkitc/src/esp32_bringup.c
+++ b/boards/xtensa/esp32/esp32-devkitc/src/esp32_bringup.c
@@ -339,6 +339,15 @@ int esp32_bringup(void)
     }
 #endif
 
+#ifdef CONFIG_DEV_GPIO
+  ret = esp32_gpio_init();
+  if (ret < 0)
+    {
+      syslog(LOG_ERR, "Failed to initialize GPIO Driver: %d\n", ret);
+      return ret;
+    }
+#endif
+
 #ifdef CONFIG_BUTTONS
   /* Register the BUTTON driver */
 
diff --git a/boards/xtensa/esp32/esp32-devkitc/src/esp32_gpio.c b/boards/xtensa/esp32/esp32-devkitc/src/esp32_gpio.c
new file mode 100644
index 0000000000..3f85f65580
--- /dev/null
+++ b/boards/xtensa/esp32/esp32-devkitc/src/esp32_gpio.c
@@ -0,0 +1,394 @@
+/****************************************************************************
+ * boards/xtensa/esp32/esp32-devkitc/src/esp32_gpio.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 <sys/types.h>
+#include <syslog.h>
+#include <nuttx/irq.h>
+#include <arch/irq.h>
+#include <debug.h>
+
+#include <nuttx/ioexpander/gpio.h>
+
+#include <arch/board/board.h>
+
+#include "esp32-devkitc.h"
+#include "esp32_gpio.h"
+#include "hardware/esp32_gpio_sigmap.h"
+
+#if defined(CONFIG_DEV_GPIO) && !defined(CONFIG_GPIO_LOWER_HALF)
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+#if !defined(CONFIG_ESP32_GPIO_IRQ) && BOARD_NGPIOINT > 0
+#  error "NGPIOINT is > 0 and GPIO interrupts aren't enabled"
+#endif
+
+/* Output pins. GPIO15 is used as an example, any other outputs could be
+ * used.
+ */
+
+#define GPIO_OUT1    15
+
+/* Input pins. GPIO18 is used as an example, any other inputs could be
+ * used.
+ */
+
+#define GPIO_IN1     18
+
+/* Interrupt pins.  GPIO22 is used as an example, any other inputs could be
+ * used.
+ */
+
+#define GPIO_IRQPIN1  22
+
+/****************************************************************************
+ * Private Types
+ ****************************************************************************/
+
+struct esp32gpio_dev_s
+{
+  struct gpio_dev_s gpio;
+  uint8_t id;
+};
+
+struct esp32gpint_dev_s
+{
+  struct esp32gpio_dev_s esp32gpio;
+  pin_interrupt_t callback;
+};
+
+/****************************************************************************
+ * Private Function Prototypes
+ ****************************************************************************/
+
+#if BOARD_NGPIOOUT > 0
+static int gpout_read(FAR struct gpio_dev_s *dev, FAR bool *value);
+static int gpout_write(FAR struct gpio_dev_s *dev, bool value);
+#endif
+
+#if BOARD_NGPIOIN > 0
+static int gpin_read(FAR struct gpio_dev_s *dev, FAR bool *value);
+#endif
+
+#if BOARD_NGPIOINT > 0
+static int gpint_read(FAR struct gpio_dev_s *dev, FAR bool *value);
+static int gpint_attach(FAR struct gpio_dev_s *dev,
+                        pin_interrupt_t callback);
+static int gpint_enable(FAR struct gpio_dev_s *dev, bool enable);
+#endif
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+#if BOARD_NGPIOOUT > 0
+static const struct gpio_operations_s gpout_ops =
+{
+  .go_read   = gpout_read,
+  .go_write  = gpout_write,
+  .go_attach = NULL,
+  .go_enable = NULL,
+};
+
+/* This array maps the GPIO pins used as OUTPUT */
+
+static const uint32_t g_gpiooutputs[BOARD_NGPIOOUT] =
+{
+  GPIO_OUT1
+};
+
+static struct esp32gpio_dev_s g_gpout[BOARD_NGPIOOUT];
+#endif
+
+#if BOARD_NGPIOIN > 0
+static const struct gpio_operations_s gpin_ops =
+{
+  .go_read   = gpin_read,
+  .go_write  = NULL,
+  .go_attach = NULL,
+  .go_enable = NULL,
+};
+
+/* This array maps the GPIO pins used as INTERRUPT INPUTS */
+
+static const uint32_t g_gpioinputs[BOARD_NGPIOIN] =
+{
+  GPIO_IN1
+};
+
+static struct esp32gpio_dev_s g_gpin[BOARD_NGPIOIN];
+#endif
+
+#if BOARD_NGPIOINT > 0
+static const struct gpio_operations_s gpint_ops =
+{
+  .go_read   = gpint_read,
+  .go_write  = NULL,
+  .go_attach = gpint_attach,
+  .go_enable = gpint_enable,
+};
+
+/* This array maps the GPIO pins used as INTERRUPT INPUTS */
+
+static const uint32_t g_gpiointinputs[BOARD_NGPIOINT] =
+{
+  GPIO_IRQPIN1,
+};
+
+static struct esp32gpint_dev_s g_gpint[BOARD_NGPIOINT];
+#endif
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: gpout_read
+ ****************************************************************************/
+
+#if BOARD_NGPIOOUT > 0
+static int gpout_read(FAR struct gpio_dev_s *dev, FAR bool *value)
+{
+  FAR struct esp32gpio_dev_s *esp32gpio = (FAR struct esp32gpio_dev_s *)dev;
+
+  DEBUGASSERT(esp32gpio != NULL && value != NULL);
+  DEBUGASSERT(esp32gpio->id < BOARD_NGPIOOUT);
+  gpioinfo("Reading...\n");
+
+  *value = esp32_gpioread(g_gpiooutputs[esp32gpio->id]);
+  return OK;
+}
+
+/****************************************************************************
+ * Name: gpout_write
+ ****************************************************************************/
+
+static int gpout_write(FAR struct gpio_dev_s *dev, bool value)
+{
+  FAR struct esp32gpio_dev_s *esp32gpio = (FAR struct esp32gpio_dev_s *)dev;
+
+  DEBUGASSERT(esp32gpio != NULL);
+  DEBUGASSERT(esp32gpio->id < BOARD_NGPIOOUT);
+  gpioinfo("Writing %d\n", (int)value);
+
+  esp32_gpiowrite(g_gpiooutputs[esp32gpio->id], value);
+  return OK;
+}
+#endif
+
+/****************************************************************************
+ * Name: gpin_read
+ ****************************************************************************/
+
+#if BOARD_NGPIOIN > 0
+static int gpin_read(FAR struct gpio_dev_s *dev, FAR bool *value)
+{
+  FAR struct esp32gpio_dev_s *esp32gpio = (FAR struct esp32gpio_dev_s *)dev;
+
+  DEBUGASSERT(esp32gpio != NULL && value != NULL);
+  DEBUGASSERT(esp32gpio->id < BOARD_NGPIOIN);
+  gpioinfo("Reading... pin %d\n", g_gpioinputs[esp32gpio->id]);
+
+  *value = esp32_gpioread(g_gpioinputs[esp32gpio->id]);
+  return OK;
+}
+#endif
+
+/****************************************************************************
+ * Name: esp32gpio_interrupt
+ ****************************************************************************/
+
+#if BOARD_NGPIOINT > 0
+static int esp32gpio_interrupt(int irq, void *context, void *arg)
+{
+  FAR struct esp32gpint_dev_s *esp32gpint =
+    (FAR struct esp32gpint_dev_s *)arg;
+
+  DEBUGASSERT(esp32gpint != NULL && esp32gpint->callback != NULL);
+  gpioinfo("Interrupt! callback=%p\n", esp32gpint->callback);
+
+  esp32gpint->callback(&esp32gpint->esp32gpio.gpio,
+                       esp32gpint->esp32gpio.id);
+  return OK;
+}
+
+/****************************************************************************
+ * Name: gpint_read
+ ****************************************************************************/
+
+static int gpint_read(FAR struct gpio_dev_s *dev, FAR bool *value)
+{
+  FAR struct esp32gpint_dev_s *esp32gpint =
+    (FAR struct esp32gpint_dev_s *)dev;
+
+  DEBUGASSERT(esp32gpint != NULL && value != NULL);
+  DEBUGASSERT(esp32gpint->esp32gpio.id < BOARD_NGPIOINT);
+  gpioinfo("Reading int pin...\n");
+
+  *value = esp32_gpioread(g_gpiointinputs[esp32gpint->esp32gpio.id]);
+  return OK;
+}
+
+/****************************************************************************
+ * Name: gpint_attach
+ ****************************************************************************/
+
+static int gpint_attach(FAR struct gpio_dev_s *dev,
+                        pin_interrupt_t callback)
+{
+  FAR struct esp32gpint_dev_s *esp32gpint =
+    (FAR struct esp32gpint_dev_s *)dev;
+  int irq = ESP32_PIN2IRQ(g_gpiointinputs[esp32gpint->esp32gpio.id]);
+  int ret;
+
+  gpioinfo("Attaching the callback\n");
+
+  /* Make sure the interrupt is disabled */
+
+  esp32_gpioirqdisable(irq);
+  ret = irq_attach(irq,
+                   esp32gpio_interrupt,
+                   &g_gpint[esp32gpint->esp32gpio.id]);
+  if (ret < 0)
+    {
+      syslog(LOG_ERR, "ERROR: gpint_attach() failed: %d\n", ret);
+      return ret;
+    }
+
+  gpioinfo("Attach %p\n", callback);
+  esp32gpint->callback = callback;
+  return OK;
+}
+
+/****************************************************************************
+ * Name: gpint_enable
+ ****************************************************************************/
+
+static int gpint_enable(FAR struct gpio_dev_s *dev, bool enable)
+{
+  FAR struct esp32gpint_dev_s *esp32gpint =
+    (FAR struct esp32gpint_dev_s *)dev;
+  int irq = ESP32_PIN2IRQ(g_gpiointinputs[esp32gpint->esp32gpio.id]);
+
+  if (enable)
+    {
+      if (esp32gpint->callback != NULL)
+        {
+          gpioinfo("Enabling the interrupt\n");
+
+          /* Configure the interrupt for rising edge */
+
+          esp32_gpioirqenable(irq, RISING);
+        }
+    }
+  else
+    {
+      gpioinfo("Disable the interrupt\n");
+      esp32_gpioirqdisable(irq);
+    }
+
+  return OK;
+}
+#endif
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: esp32_gpio_init
+ ****************************************************************************/
+
+int esp32_gpio_init(void)
+{
+  int i;
+  int pincount = 0;
+
+#if BOARD_NGPIOOUT > 0
+  for (i = 0; i < BOARD_NGPIOOUT; i++)
+    {
+      /* Setup and register the GPIO pin */
+
+      g_gpout[i].gpio.gp_pintype = GPIO_OUTPUT_PIN;
+      g_gpout[i].gpio.gp_ops     = &gpout_ops;
+      g_gpout[i].id              = i;
+      gpio_pin_register(&g_gpout[i].gpio, pincount);
+
+      /* Configure the pins that will be used as output */
+
+      esp32_gpio_matrix_out(g_gpiooutputs[i], SIG_GPIO_OUT_IDX, 0, 0);
+      esp32_configgpio(g_gpiooutputs[i], OUTPUT_FUNCTION_3);
+      esp32_gpiowrite(g_gpiooutputs[i], 0);
+
+      pincount++;
+    }
+#endif
+
+  pincount = 0;
+
+#if BOARD_NGPIOIN > 0
+  for (i = 0; i < BOARD_NGPIOIN; i++)
+    {
+      /* Setup and register the GPIO pin */
+
+      g_gpin[i].gpio.gp_pintype = GPIO_INPUT_PIN;
+      g_gpin[i].gpio.gp_ops     = &gpin_ops;
+      g_gpin[i].id              = i;
+      gpio_pin_register(&g_gpin[i].gpio, pincount);
+
+      /* Configure the pins that will be used as INPUT */
+
+      esp32_configgpio(g_gpioinputs[i], INPUT_FUNCTION_3);
+
+      pincount++;
+    }
+#endif
+
+  pincount = 0;
+
+#if BOARD_NGPIOINT > 0
+  for (i = 0; i < BOARD_NGPIOINT; i++)
+    {
+      /* Setup and register the GPIO pin */
+
+      g_gpint[i].esp32gpio.gpio.gp_pintype = GPIO_INTERRUPT_PIN;
+      g_gpint[i].esp32gpio.gpio.gp_ops     = &gpint_ops;
+      g_gpint[i].esp32gpio.id              = i;
+      gpio_pin_register(&g_gpint[i].esp32gpio.gpio, pincount);
+
+      /* Configure the pins that will be used as interrupt input */
+
+      esp32_configgpio(g_gpiointinputs[i], INPUT_FUNCTION_3 | PULLDOWN);
+
+      pincount++;
+    }
+#endif
+
+  return OK;
+}
+#endif /* CONFIG_DEV_GPIO && !CONFIG_GPIO_LOWER_HALF */