diff --git a/boards/xtensa/esp32/esp32-wrover-kit/include/board.h b/boards/xtensa/esp32/esp32-wrover-kit/include/board.h
index 78a0c480d1..85c5e07b68 100644
--- a/boards/xtensa/esp32/esp32-wrover-kit/include/board.h
+++ b/boards/xtensa/esp32/esp32-wrover-kit/include/board.h
@@ -76,7 +76,33 @@
 
 /* Define how many LEDs this board has (needed by userleds) */
 
-#define BOARD_NLEDS       1
-#define GPIO_LED1         2
+#define BOARD_LED1        0
+#define BOARD_LED2        1
+#define BOARD_LED3        2
+#define BOARD_NLEDS       3
+
+#define BOARD_LED_RED     BOARD_LED1
+#define BOARD_LED_GREEN   BOARD_LED2
+#define BOARD_LED_BLUE    BOARD_LED3
+
+/* LED bits for use with autoleds */
+
+#define BOARD_LED1_BIT    (1 << BOARD_LED1)
+#define BOARD_LED2_BIT    (1 << BOARD_LED2)
+#define BOARD_LED3_BIT    (1 << BOARD_LED3)
+
+/* If CONFIG_ARCH_LEDs is defined, then NuttX will control the 3 LEDs on
+ * board the ESP-WROVER-KIT.  The following definitions describe how
+ * NuttX controls the LEDs:
+ */
+
+#define LED_STARTED       0  /* LED2 */
+#define LED_HEAPALLOCATE  1  /* LED3 */
+#define LED_IRQSENABLED   2  /* LED3 + LED2 */
+#define LED_STACKCREATED  3  /* LED3 */
+#define LED_INIRQ         4  /* LED1 + LED3 */
+#define LED_SIGNAL        5  /* LED2 + LED3 */
+#define LED_ASSERTION     6  /* LED1 + LED2 + LED3 */
+#define LED_PANIC         7  /* LED1  + N/C  + N/C */
 
 #endif /* __BOARDS_XTENSA_ESP32_ESP32_WROVER_KIT_INCLUDE_BOARD_H */
diff --git a/boards/xtensa/esp32/esp32-wrover-kit/src/Make.defs b/boards/xtensa/esp32/esp32-wrover-kit/src/Make.defs
index 2b5f8b2769..9ec3df22b2 100644
--- a/boards/xtensa/esp32/esp32-wrover-kit/src/Make.defs
+++ b/boards/xtensa/esp32/esp32-wrover-kit/src/Make.defs
@@ -26,6 +26,12 @@ CONFIGFILE = $(TOPDIR)$(DELIM)include$(DELIM)nuttx$(DELIM)config.h
 
 CSRCS = esp32_boot.c esp32_bringup.c
 
+ifeq ($(CONFIG_ARCH_LEDS),y)
+CSRCS += esp32_autoleds.c
+else
+CSRCS += esp32_userleds.c
+endif
+
 ifeq ($(CONFIG_LIB_BOARDCTL),y)
 CSRCS += esp32_appinit.c
 ifeq ($(CONFIG_BOARDCTL_RESET),y)
@@ -45,10 +51,6 @@ ifeq ($(CONFIG_ESP32_SPIFLASH),y)
 CSRCS += esp32_spiflash.c
 endif
 
-ifeq ($(CONFIG_USERLED),y)
-CSRCS += esp32_userleds.c
-endif
-
 SCRIPTIN = $(SCRIPTDIR)$(DELIM)esp32.template.ld
 SCRIPTOUT = $(SCRIPTDIR)$(DELIM)esp32_out.ld
 
diff --git a/boards/xtensa/esp32/esp32-wrover-kit/src/esp32-wrover-kit.h b/boards/xtensa/esp32/esp32-wrover-kit/src/esp32-wrover-kit.h
index 943247aea3..de618bd1bc 100644
--- a/boards/xtensa/esp32/esp32-wrover-kit/src/esp32-wrover-kit.h
+++ b/boards/xtensa/esp32/esp32-wrover-kit/src/esp32-wrover-kit.h
@@ -33,6 +33,14 @@
  * Pre-processor Definitions
  ****************************************************************************/
 
+/* ESP-WROVER-KIT GPIOs *****************************************************/
+
+/* LEDs */
+
+#define GPIO_LED1  0
+#define GPIO_LED2  2
+#define GPIO_LED3  4
+
 /****************************************************************************
  * Public Types
  ****************************************************************************/
@@ -68,6 +76,7 @@ int esp32_bringup(void);
  *
  * Description:
  *   Initialize SPI-based SD card and card detect thread.
+ *
  ****************************************************************************/
 
 int esp32_mmcsd_initialize(int minor);
diff --git a/boards/xtensa/esp32/esp32-wrover-kit/src/esp32_autoleds.c b/boards/xtensa/esp32/esp32-wrover-kit/src/esp32_autoleds.c
new file mode 100644
index 0000000000..eeedc32bc5
--- /dev/null
+++ b/boards/xtensa/esp32/esp32-wrover-kit/src/esp32_autoleds.c
@@ -0,0 +1,147 @@
+/****************************************************************************
+ * boards/xtensa/esp32/esp32-wrover-kit/src/esp32_autoleds.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 <stdint.h>
+#include <stdbool.h>
+#include <debug.h>
+
+#include <nuttx/board.h>
+#include <arch/board/board.h>
+
+#include "esp32_gpio.h"
+#include "esp32-wrover-kit.h"
+
+#ifdef CONFIG_ARCH_LEDS
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/* The following definitions map the encoded LED setting to GPIO settings */
+
+#define LED_STARTED_BITS             (BOARD_LED2_BIT)
+#define LED_HEAPALLOCATE_BITS        (BOARD_LED3_BIT)
+#define LED_IRQSENABLED_BITS         (BOARD_LED3_BIT | BOARD_LED2_BIT)
+#define LED_STACKCREATED_BITS        (BOARD_LED3_BIT)
+#define LED_INIRQ_BITS               (BOARD_LED1_BIT | BOARD_LED3_BIT)
+#define LED_SIGNAL_BITS              (BOARD_LED2_BIT | BOARD_LED3_BIT)
+#define LED_ASSERTION_BITS           (BOARD_LED1_BIT | BOARD_LED2_BIT |\
+                                      BOARD_LED3_BIT)
+#define LED_PANIC_BITS               (BOARD_LED1_BIT)
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+static const unsigned int g_ledbits[8] =
+{
+  LED_STARTED_BITS,
+  LED_HEAPALLOCATE_BITS,
+  LED_IRQSENABLED_BITS,
+  LED_STACKCREATED_BITS,
+  LED_INIRQ_BITS,
+  LED_SIGNAL_BITS,
+  LED_ASSERTION_BITS,
+  LED_PANIC_BITS
+};
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+static inline void led_clrbits(unsigned int clrbits)
+{
+  if ((clrbits & BOARD_LED1_BIT) != 0)
+    {
+      esp32_gpiowrite(GPIO_LED1, false);
+    }
+
+  if ((clrbits & BOARD_LED2_BIT) != 0)
+    {
+      esp32_gpiowrite(GPIO_LED2, false);
+    }
+
+  if ((clrbits & BOARD_LED3_BIT) != 0)
+    {
+      esp32_gpiowrite(GPIO_LED3, false);
+    }
+}
+
+static inline void led_setbits(unsigned int setbits)
+{
+  if ((setbits & BOARD_LED1_BIT) != 0)
+    {
+      esp32_gpiowrite(GPIO_LED1, true);
+    }
+
+  if ((setbits & BOARD_LED2_BIT) != 0)
+    {
+      esp32_gpiowrite(GPIO_LED2, true);
+    }
+
+  if ((setbits & BOARD_LED3_BIT) != 0)
+    {
+      esp32_gpiowrite(GPIO_LED3, true);
+    }
+}
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: board_autoled_initialize
+ ****************************************************************************/
+
+void board_autoled_initialize(void)
+{
+  /* Configure LED1-4 GPIOs for output */
+
+  esp32_configgpio(GPIO_LED1, OUTPUT);
+  esp32_configgpio(GPIO_LED2, OUTPUT);
+  esp32_configgpio(GPIO_LED3, OUTPUT);
+}
+
+/****************************************************************************
+ * Name: board_autoled_on
+ ****************************************************************************/
+
+void board_autoled_on(int led)
+{
+  led_clrbits(BOARD_LED1_BIT | BOARD_LED2_BIT | BOARD_LED3_BIT);
+  led_setbits(g_ledbits[led]);
+}
+
+/****************************************************************************
+ * Name: board_autoled_off
+ ****************************************************************************/
+
+void board_autoled_off(int led)
+{
+  led_clrbits(g_ledbits[led]);
+}
+
+#endif /* CONFIG_ARCH_LEDS */
diff --git a/boards/xtensa/esp32/esp32-wrover-kit/src/esp32_boot.c b/boards/xtensa/esp32/esp32-wrover-kit/src/esp32_boot.c
index 9b60456391..bf05463e85 100644
--- a/boards/xtensa/esp32/esp32-wrover-kit/src/esp32_boot.c
+++ b/boards/xtensa/esp32/esp32-wrover-kit/src/esp32_boot.c
@@ -56,6 +56,11 @@
 
 void esp32_board_initialize(void)
 {
+  /* Configure on-board LEDs if LED support has been selected. */
+
+#ifdef CONFIG_ARCH_LEDS
+  board_autoled_initialize();
+#endif
 }
 
 /****************************************************************************
diff --git a/boards/xtensa/esp32/esp32-wrover-kit/src/esp32_userleds.c b/boards/xtensa/esp32/esp32-wrover-kit/src/esp32_userleds.c
index b861ff296e..d0b9c58974 100644
--- a/boards/xtensa/esp32/esp32-wrover-kit/src/esp32_userleds.c
+++ b/boards/xtensa/esp32/esp32-wrover-kit/src/esp32_userleds.c
@@ -27,9 +27,11 @@
 #include <stdint.h>
 #include <stdbool.h>
 #include <debug.h>
-#include <arch/board/board.h>
-#include "esp32_gpio.h"
 
+#include <nuttx/board.h>
+#include <arch/board/board.h>
+
+#include "esp32_gpio.h"
 #include "esp32-wrover-kit.h"
 
 /****************************************************************************
@@ -40,7 +42,7 @@
 
 static const uint32_t g_ledcfg[BOARD_NLEDS] =
 {
-  GPIO_LED1,
+  GPIO_LED1, GPIO_LED2, GPIO_LED3
 };
 
 /****************************************************************************
@@ -55,6 +57,8 @@ uint32_t board_userled_initialize(void)
 {
   uint8_t i;
 
+  /* Configure the LEDs GPIOs as outputs */
+
   for (i = 0; i < BOARD_NLEDS; i++)
     {
       esp32_configgpio(g_ledcfg[i], OUTPUT);
@@ -83,8 +87,6 @@ void board_userled_all(uint32_t ledset)
 {
   uint8_t i;
 
-  /* Configure LED1-8 GPIOs for output */
-
   for (i = 0; i < BOARD_NLEDS; i++)
     {
       esp32_gpiowrite(g_ledcfg[i], (ledset & (1 << i)) != 0);