diff --git a/boards/xtensa/esp32/common/include/esp32_rgbled.h b/boards/xtensa/esp32/common/include/esp32_rgbled.h
new file mode 100644
index 0000000000..e34f237aef
--- /dev/null
+++ b/boards/xtensa/esp32/common/include/esp32_rgbled.h
@@ -0,0 +1,89 @@
+/****************************************************************************
+ * boards/xtensa/esp32/common/include/esp32_rgbled.h
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+#ifndef __BOARDS_XTENSA_ESP32_COMMON_INCLUDE_ESP32_RGBLED_H
+#define __BOARDS_XTENSA_ESP32_COMMON_INCLUDE_ESP32_RGBLED_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+#define RGB_LED_TIMER TIMER0
+
+#define RGB_R_CHANN 0
+#define RGB_G_CHANN 1
+#define RGB_B_CHANN 2
+
+/****************************************************************************
+ * Type Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Types
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+#ifdef __cplusplus
+#define EXTERN extern "C"
+extern "C"
+{
+#else
+#define EXTERN extern
+#endif
+
+/****************************************************************************
+ * Inline Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: esp32_rgbled_initialize
+ *
+ * Description:
+ *
+ *
+ * Input Parameters:
+ *   devname - The name under which the RGB led will be registered
+ *
+ * Returned Value:
+ *   Zero (OK) on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+int esp32_rgbled_initialize(const char *devname);
+
+#undef EXTERN
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __BOARDS_XTENSA_ESP32_COMMON_INCLUDE_ESP32_RGBLED_H */
diff --git a/boards/xtensa/esp32/common/src/Make.defs b/boards/xtensa/esp32/common/src/Make.defs
index 77c84a69e1..c3f39c2f9d 100644
--- a/boards/xtensa/esp32/common/src/Make.defs
+++ b/boards/xtensa/esp32/common/src/Make.defs
@@ -120,6 +120,10 @@ ifeq ($(CONFIG_LCD_SSD1680),y)
   CSRCS += esp32_ssd1680.c
 endif
 
+ifeq ($(CONFIG_RGBLED),y)
+  CSRCS += esp32_rgbled.c
+endif
+
 DEPPATH += --dep-path src
 VPATH += :src
 CFLAGS += ${INCDIR_PREFIX}$(TOPDIR)$(DELIM)arch$(DELIM)$(CONFIG_ARCH)$(DELIM)src$(DELIM)board$(DELIM)src
diff --git a/boards/xtensa/esp32/common/src/esp32_rgbled.c b/boards/xtensa/esp32/common/src/esp32_rgbled.c
new file mode 100644
index 0000000000..fae35ac2f6
--- /dev/null
+++ b/boards/xtensa/esp32/common/src/esp32_rgbled.c
@@ -0,0 +1,152 @@
+/****************************************************************************
+ * boards/xtensa/esp32/common/src/esp32_rgbled.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 <stdio.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include <debug.h>
+
+#include <fcntl.h>
+#include <unistd.h>
+#include <sys/types.h>
+#include <errno.h>
+
+#include <nuttx/board.h>
+#include <arch/board/board.h>
+#include <nuttx/fs/fs.h>
+#include <nuttx/timers/pwm.h>
+#include <nuttx/leds/rgbled.h>
+
+#include "esp32-sparrow-kit.h"
+#include "esp32_gpio.h"
+#include "esp32_ledc.h"
+#include "esp32_rgbled.h"
+
+#if defined(CONFIG_ESP32_TIMER0) && \
+    defined(CONFIG_ESP32_LEDC) && \
+    defined(CONFIG_ESP32_LEDC_TIM0) && \
+    (CONFIG_ESP32_LEDC_TIM0_CHANNELS >= 3) && \
+    defined(CONFIG_PWM_MULTICHAN) && (CONFIG_PWM_NCHANNELS >= 3)
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: esp32_rgbled_initialize
+ *
+ * Description:
+ *   Initialize support for RGB LED using PWM.
+ *
+ ****************************************************************************/
+
+int esp32_rgbled_initialize(const char *devname)
+{
+  static bool initialized = false;
+  FAR struct pwm_lowerhalf_s *ledr;
+  FAR struct pwm_lowerhalf_s *ledg;
+  FAR struct pwm_lowerhalf_s *ledb;
+  int ret;
+
+  /* Have we already initialized? */
+
+  if (!initialized)
+    {
+      ledr = esp32_ledc_init(RGB_LED_TIMER);
+      if (!ledr)
+        {
+          lederr("ERROR: Failed to get the ESP32 PWM lower half to LEDR\n");
+          return -ENODEV;
+        }
+
+      /* Initialize LED R */
+
+      ledr->ops->setup(ledr);
+
+      ledg = esp32_ledc_init(RGB_LED_TIMER);
+      if (!ledg)
+        {
+          lederr("ERROR: Failed to get the ESP32 PWM lower half to LEDG\n");
+          return -ENODEV;
+        }
+
+      /* Initialize LED G */
+
+      ledg->ops->setup(ledg);
+
+      ledb = esp32_ledc_init(RGB_LED_TIMER);
+      if (!ledb)
+        {
+          lederr("ERROR: Failed to get the ESP32 PWM lower half to LEDB\n");
+          return -ENODEV;
+        }
+
+      /* Initialize LED B */
+
+      ledb->ops->setup(ledb);
+
+      /* Register the RGB LED diver at <devname> */
+
+      ret = rgbled_register(devname, ledr, ledg, ledb, RGB_R_CHANN,
+                                                       RGB_G_CHANN,
+                                                       RGB_B_CHANN);
+      if (ret < 0)
+        {
+          lederr("ERROR: rgbled_register failed: %d\n", ret);
+          return ret;
+        }
+
+      int fd = nx_open(devname, O_WRONLY);
+
+      if (fd < 0)
+        {
+          lederr("ERROR: rgbled_open failed\n");
+          return fd;
+        }
+
+      /* Turn OFF the LED */
+
+      ret = nx_write(fd, "#000000", 8);
+      nx_close(fd);
+
+      if (ret < 0)
+        {
+          lederr("ERROR: rgbled_write failed: %d\n", ret);
+          return ret;
+        }
+
+      /* Now we are initialized */
+
+      initialized = true;
+    }
+
+  return OK;
+}
+
+#else
+#  error "RGB LED bad configuration"
+#endif
+
diff --git a/boards/xtensa/esp32/esp32-sparrow-kit/configs/nsh/defconfig b/boards/xtensa/esp32/esp32-sparrow-kit/configs/nsh/defconfig
index b0101f9130..be810647e9 100644
--- a/boards/xtensa/esp32/esp32-sparrow-kit/configs/nsh/defconfig
+++ b/boards/xtensa/esp32/esp32-sparrow-kit/configs/nsh/defconfig
@@ -27,11 +27,18 @@ CONFIG_BUILTIN=y
 CONFIG_DRIVERS_VIDEO=y
 CONFIG_ESP32_I2C0=y
 CONFIG_ESP32_I2C0_SDAPIN=21
+CONFIG_ESP32_LEDC=y
+CONFIG_ESP32_LEDC_CHANNEL0_PIN=14
+CONFIG_ESP32_LEDC_CHANNEL1_PIN=13
+CONFIG_ESP32_LEDC_CHANNEL2_PIN=15
+CONFIG_ESP32_LEDC_TIM0=y
+CONFIG_ESP32_LEDC_TIM0_CHANNELS=3
 CONFIG_ESP32_SPI2=y
 CONFIG_ESP32_SPI2_CLKPIN=18
 CONFIG_ESP32_SPI2_CSPIN=5
 CONFIG_ESP32_SPI2_MISOPIN=19
 CONFIG_ESP32_SPI2_MOSIPIN=23
+CONFIG_ESP32_TIMER0=y
 CONFIG_ESP32_UART0=y
 CONFIG_FAT_LCNAMES=y
 CONFIG_FAT_LFN=y
@@ -58,8 +65,14 @@ CONFIG_NSH_LINELEN=64
 CONFIG_NSH_MMCSDSPIPORTNO=2
 CONFIG_NSH_READLINE=y
 CONFIG_PREALLOC_TIMERS=4
+CONFIG_PWM_MULTICHAN=y
+CONFIG_PWM_NCHANNELS=3
 CONFIG_RAM_SIZE=114688
 CONFIG_RAM_START=0x20000000
+CONFIG_RGBLED=y
+CONFIG_RGBLED_INVERT=y
+CONFIG_RGBLED_LIGHTNESS_CORRECTION=y
+CONFIG_RGBLED_PWM_FREQ=200
 CONFIG_RR_INTERVAL=200
 CONFIG_SCHED_WAITPID=y
 CONFIG_SENSORS=y
@@ -69,5 +82,7 @@ CONFIG_START_MONTH=12
 CONFIG_START_YEAR=2011
 CONFIG_SYSLOG_BUFFER=y
 CONFIG_SYSTEM_NSH=y
+CONFIG_TIMER=y
+CONFIG_TIMER_ARCH=y
 CONFIG_UART0_SERIAL_CONSOLE=y
 CONFIG_VIDEO_FB=y
diff --git a/boards/xtensa/esp32/esp32-sparrow-kit/src/esp32_bringup.c b/boards/xtensa/esp32/esp32-sparrow-kit/src/esp32_bringup.c
index edc68e4e74..cf8d36f95c 100644
--- a/boards/xtensa/esp32/esp32-sparrow-kit/src/esp32_bringup.c
+++ b/boards/xtensa/esp32/esp32-sparrow-kit/src/esp32_bringup.c
@@ -48,6 +48,10 @@
 #  include <nuttx/leds/userled.h>
 #endif
 
+#ifdef CONFIG_RGBLED
+#  include "esp32_rgbled.h"
+#endif
+
 #ifdef CONFIG_TIMER
 #include <esp32_tim_lowerhalf.h>
 #endif
@@ -400,6 +404,16 @@ int esp32_bringup(void)
     }
 #endif
 
+#ifdef CONFIG_RGBLED
+  /* Register RGB Driver */
+
+  ret = esp32_rgbled_initialize("/dev/rgbled0");
+  if (ret < 0)
+    {
+      syslog(LOG_ERR, "ERROR: esp32_rgbled_initialize() failed: %d\n", ret);
+    }
+#endif
+
   /* If we got here then perhaps not all initialization was successful, but
    * at least enough succeeded to bring-up NSH with perhaps reduced
    * capabilities.