diff --git a/cpu/esp32/include/sdk_conf.h b/cpu/esp32/include/sdk_conf.h
index 6581737ce040..21b9ba02890e 100644
--- a/cpu/esp32/include/sdk_conf.h
+++ b/cpu/esp32/include/sdk_conf.h
@@ -28,6 +28,15 @@
 extern "C" {
 #endif
 
+/**
+ * @brief   SDK version number
+ *
+ * Determined with `git describe --tags` in `$ESP32_SDK_DIR`
+ */
+#if !defined(IDF_VER) || DOXYGEN
+#include "esp32_idf_version.h"
+#endif
+
 /**
 * @name    Clock configuration
 * @{
diff --git a/cpu/esp32/startup.c b/cpu/esp32/startup.c
index 432387e26c56..5c3e5887db00 100644
--- a/cpu/esp32/startup.c
+++ b/cpu/esp32/startup.c
@@ -156,6 +156,9 @@ NORETURN void IRAM call_start_cpu0 (void)
         ets_printf("%02x", cpu_id[i]);
     }
     ets_printf("\n");
+
+    extern char* esp_get_idf_version(void);
+    LOG_STARTUP("ESP-IDF SDK Version %s\n\n", esp_get_idf_version());
 #endif
 
     if (reset_reason == DEEPSLEEP_RESET) {
diff --git a/cpu/esp32/vendor/esp-idf/esp_funcs.c b/cpu/esp32/vendor/esp-idf/esp_funcs.c
index 303bed26b3f7..81ce4f5d46b9 100644
--- a/cpu/esp32/vendor/esp-idf/esp_funcs.c
+++ b/cpu/esp32/vendor/esp-idf/esp_funcs.c
@@ -482,6 +482,11 @@ void IRAM_ATTR esp_restart_noos(void)
     }
 }
 
+const char* esp_get_idf_version(void)
+{
+    return IDF_VER;
+}
+
 /*
  * source: /path/to/esp-idf/components/wpa_supplicant/port/os_xtensa.c
  */