diff --git a/tests/external_board_dirs/Makefile b/tests/external_board_dirs/Makefile
index ccece47119..ffe3d946b8 100644
--- a/tests/external_board_dirs/Makefile
+++ b/tests/external_board_dirs/Makefile
@@ -7,5 +7,6 @@ FEATURES_REQUIRED += arch_native
 # Set without '?=' to also verify the docker integration when set with =
 EXTERNAL_BOARD_DIRS = $(CURDIR)/external_board_dir_1
 EXTERNAL_BOARD_DIRS += $(CURDIR)/external_board_dir_2
+EXTERNAL_BOARD_DIRS += $(CURDIR)/esp-ci-boards
 
 include $(RIOTBASE)/Makefile.include
diff --git a/tests/external_board_dirs/esp-ci-boards/esp32-ci/Kconfig b/tests/external_board_dirs/esp-ci-boards/esp32-ci/Kconfig
new file mode 100644
index 0000000000..5406aa99aa
--- /dev/null
+++ b/tests/external_board_dirs/esp-ci-boards/esp32-ci/Kconfig
@@ -0,0 +1,38 @@
+# Copyright (c) 2020 HAW Hamburg
+#
+# This file is subject to the terms and conditions of the GNU Lesser
+# General Public License v2.1. See the file LICENSE in the top level
+# directory for more details.
+
+config BOARD
+    default "esp32-ci" if BOARD_ESP32_CI
+
+config BOARD_ESP32_CI
+    bool
+    default y
+    select BOARD_COMMON_ESP32
+    select CPU_MODEL_ESP32_WROVER
+    select HAS_ARDUINO
+    select HAS_ESP_RTC_TIMER_32K
+    select HAS_ESP_JTAG
+    select HAS_PERIPH_ADC
+    select HAS_PERIPH_I2C
+    select HAS_PERIPH_PWM
+    select HAS_PERIPH_SPI
+    select HAS_SDCARD_SPI
+
+    select HAVE_ILI9341
+
+if TEST_KCONFIG
+
+choice ESP32_I2C_IMPLEMENTATION
+    default MODULE_ESP_I2C_HW
+endchoice
+
+config MODULE_ESP_HW_COUNTER
+    default y
+    depends on MODULE_PERIPH_TIMER
+
+endif # TEST_KCONFIG
+
+source "$(RIOTBOARD)/common/esp32/Kconfig"
diff --git a/tests/external_board_dirs/esp-ci-boards/esp32-ci/Makefile b/tests/external_board_dirs/esp-ci-boards/esp32-ci/Makefile
new file mode 100644
index 0000000000..dec9a827f4
--- /dev/null
+++ b/tests/external_board_dirs/esp-ci-boards/esp32-ci/Makefile
@@ -0,0 +1,6 @@
+# This must be a different name than 'board' as it is implemented by 'esp32-wrover-kit'
+MODULE = board_esp32-ci
+
+DIRS += $(RIOTBOARD)/esp32-wrover-kit
+
+include $(RIOTBASE)/Makefile.base
diff --git a/tests/external_board_dirs/esp-ci-boards/esp32-ci/Makefile.dep b/tests/external_board_dirs/esp-ci-boards/esp32-ci/Makefile.dep
new file mode 100644
index 0000000000..53c6888651
--- /dev/null
+++ b/tests/external_board_dirs/esp-ci-boards/esp32-ci/Makefile.dep
@@ -0,0 +1,30 @@
+# This must be a different name than 'board' as it is implemented by 'esp32-wrover-kit'
+USEMODULE += board_esp32-ci
+
+USEMODULE += esp_idf_heap
+USEMODULE += esp_log_startup
+USEMODULE += esp_log_tagged
+USEMODULE += esp_qemu
+USEMODULE += esp_spi_ram
+
+ifneq (,$(filter periph_i2c,$(USEMODULE)))
+  USEMODULE += esp_i2c_hw
+endif
+
+ifneq (,$(filter periph_timer,$(USEMODULE)))
+  USEMODULE += esp_hw_counter
+endif
+
+ifneq (,$(filter netdev_default,$(USEMODULE)))
+  # if netdev_default is used, we use gnrc modules that are enabled
+  # in different examples to use different esp_wifi modules
+  ifneq (,$(filter gnrc_netif_single,$(USEMODULE)))
+    # if gnrc_netif_single module is enabled, esp_wifi_enterprise is used
+    USEMODULE += esp_wifi_enterprise
+  else
+    # in all other case esp_wifi_ap is enabled
+    USEMODULE += esp_wifi_ap
+  endif
+endif
+
+include $(RIOTBOARD)/esp32-wrover-kit/Makefile.dep
diff --git a/tests/external_board_dirs/esp-ci-boards/esp32-ci/Makefile.features b/tests/external_board_dirs/esp-ci-boards/esp32-ci/Makefile.features
new file mode 100644
index 0000000000..ef014adbd7
--- /dev/null
+++ b/tests/external_board_dirs/esp-ci-boards/esp32-ci/Makefile.features
@@ -0,0 +1 @@
+include $(RIOTBOARD)/esp32-wrover-kit/Makefile.features
diff --git a/tests/external_board_dirs/esp-ci-boards/esp32-ci/Makefile.include b/tests/external_board_dirs/esp-ci-boards/esp32-ci/Makefile.include
new file mode 100644
index 0000000000..c2608e102b
--- /dev/null
+++ b/tests/external_board_dirs/esp-ci-boards/esp32-ci/Makefile.include
@@ -0,0 +1,5 @@
+# We must duplicate the include done by $(RIOTBASE)/Makefile.include
+# to also include the main board header
+INCLUDES += $(addprefix -I,$(wildcard $(RIOTBOARD)/esp32-wrover-kit/include))
+
+include $(RIOTBOARD)/esp32-wrover-kit/Makefile.include
diff --git a/tests/external_board_dirs/esp-ci-boards/esp32-ci/esp32-ci.config b/tests/external_board_dirs/esp-ci-boards/esp32-ci/esp32-ci.config
new file mode 100644
index 0000000000..4586b7c158
--- /dev/null
+++ b/tests/external_board_dirs/esp-ci-boards/esp32-ci/esp32-ci.config
@@ -0,0 +1,7 @@
+# Sets up configuration for openocd
+CONFIG_MODULE_ESP_JTAG=y
+CONFIG_MODULE_ESP_IDF_HEAP=y
+CONFIG_MODULE_ESP_LOG_STARTUP=y
+CONFIG_MODULE_ESP_LOG_TAGGED=y
+CONFIG_MODULE_ESP_QEMU=y
+CONFIG_MODULE_ESP_SPI_RAM=y
diff --git a/tests/external_board_dirs/esp-ci-boards/esp8266-ci/Kconfig b/tests/external_board_dirs/esp-ci-boards/esp8266-ci/Kconfig
new file mode 100644
index 0000000000..f791329e25
--- /dev/null
+++ b/tests/external_board_dirs/esp-ci-boards/esp8266-ci/Kconfig
@@ -0,0 +1,21 @@
+# Copyright (c) 2020 HAW Hamburg
+#
+# This file is subject to the terms and conditions of the GNU Lesser
+# General Public License v2.1. See the file LICENSE in the top level
+# directory for more details.
+
+config BOARD
+    default "esp8266-ci" if BOARD_ESP8266_CI
+
+config BOARD_ESP8266_CI
+    bool
+    default y
+    select BOARD_COMMON_ESP8266
+    select CPU_MODEL_ESP8266_ESP_12X
+
+config MODULE_ESP_SW_TIMER
+    default y
+    depends on TEST_KCONFIG
+    depends on MODULE_PERIPH_TIMER
+
+source "$(RIOTBOARD)/common/esp8266/Kconfig"
diff --git a/tests/external_board_dirs/esp-ci-boards/esp8266-ci/Makefile b/tests/external_board_dirs/esp-ci-boards/esp8266-ci/Makefile
new file mode 100644
index 0000000000..af94ee48c2
--- /dev/null
+++ b/tests/external_board_dirs/esp-ci-boards/esp8266-ci/Makefile
@@ -0,0 +1,6 @@
+# This must be a different name than 'board' as it is implemented by 'esp8266-olimex-mod'
+MODULE = board_esp32-ci
+
+DIRS += $(RIOTBOARD)/esp8266-olimex-mod
+
+include $(RIOTBASE)/Makefile.base
diff --git a/tests/external_board_dirs/esp-ci-boards/esp8266-ci/Makefile.dep b/tests/external_board_dirs/esp-ci-boards/esp8266-ci/Makefile.dep
new file mode 100644
index 0000000000..1386be6607
--- /dev/null
+++ b/tests/external_board_dirs/esp-ci-boards/esp8266-ci/Makefile.dep
@@ -0,0 +1,18 @@
+USEMODULE += esp_log_tagged
+USEMODULE += esp_log_startup
+USEMODULE += esp_qemu
+
+ifneq (,$(filter periph_timer,$(USEMODULE)))
+  USEMODULE += esp_sw_timer
+endif
+
+ifneq (,$(filter netdev_default,$(USEMODULE)))
+  # if netdev_default is used, we use gnrc modules that are enabled
+  # in different examples to use different esp_wifi modules
+  ifeq (,$(filter gnrc_netif_single,$(USEMODULE)))
+    # if gnrc_netif_single module is not enabled, esp_wifi_ap is used
+    USEMODULE += esp_wifi_ap
+  endif
+endif
+
+include $(RIOTBOARD)/esp8266-olimex-mod/Makefile.dep
diff --git a/tests/external_board_dirs/esp-ci-boards/esp8266-ci/Makefile.features b/tests/external_board_dirs/esp-ci-boards/esp8266-ci/Makefile.features
new file mode 100644
index 0000000000..2ad25ff5c4
--- /dev/null
+++ b/tests/external_board_dirs/esp-ci-boards/esp8266-ci/Makefile.features
@@ -0,0 +1,5 @@
+include $(RIOTBOARD)/esp8266-olimex-mod/Makefile.features
+
+ifeq (1, $(TEST_KCONFIG))
+  KCONFIG_ADD_CONFIG += $(BOARDDIR)/$(BOARD).config
+endif
diff --git a/tests/external_board_dirs/esp-ci-boards/esp8266-ci/Makefile.include b/tests/external_board_dirs/esp-ci-boards/esp8266-ci/Makefile.include
new file mode 100644
index 0000000000..fcd817d21b
--- /dev/null
+++ b/tests/external_board_dirs/esp-ci-boards/esp8266-ci/Makefile.include
@@ -0,0 +1,5 @@
+# We must duplicate the include done by $(RIOTBASE)/Makefile.include
+# to also include the main board header
+INCLUDES += $(addprefix -I,$(wildcard $(RIOTBOARD)/esp8266-olimex-mod/include))
+
+include $(RIOTBOARD)/esp8266-olimex-mod/Makefile.include
diff --git a/tests/external_board_dirs/esp-ci-boards/esp8266-ci/esp8266-ci.config b/tests/external_board_dirs/esp-ci-boards/esp8266-ci/esp8266-ci.config
new file mode 100644
index 0000000000..e846e7274f
--- /dev/null
+++ b/tests/external_board_dirs/esp-ci-boards/esp8266-ci/esp8266-ci.config
@@ -0,0 +1,4 @@
+# Sets up configuration for openocd
+CONFIG_MODULE_ESP_LOG_STARTUP=y
+CONFIG_MODULE_ESP_LOG_TAGGED=y
+CONFIG_MODULE_ESP_QEMU=y