diff --git a/cpu/esp32/bootloader/sdkconfig.h b/cpu/esp32/bootloader/sdkconfig.h
index 536a5c7163..93cab5f7f7 100644
--- a/cpu/esp32/bootloader/sdkconfig.h
+++ b/cpu/esp32/bootloader/sdkconfig.h
@@ -85,7 +85,25 @@ extern "C" {
  * Bootloader output baudrate, defined by the app settings as BAUD or
  * BOOTLOADER_BAUD.
  */
-#define CONFIG_ESP_CONSOLE_UART_BAUDRATE (RIOT_BOOTLOADER_BAUD)
+#define CONFIG_ESP_CONSOLE_UART_BAUDRATE    (RIOT_BOOTLOADER_BAUD)
+
+/*
+ * If custom TX and RX are defined, use custom UART configuration for 2nd stage
+ * bootloader.
+ */
+#if defined(CONFIG_CONSOLE_UART_RX) && defined(CONFIG_CONSOLE_UART_RX)
+#define CONFIG_ESP_CONSOLE_UART_CUSTOM      1
+#define CONFIG_ESP_CONSOLE_UART_TX_GPIO     CONFIG_CONSOLE_UART_TX
+#define CONFIG_ESP_CONSOLE_UART_RX_GPIO     CONFIG_CONSOLE_UART_RX
+#else
+#define CONFIG_ESP_CONSOLE_UART_DEFAULT     1
+#endif
+
+#if defined(CONFIG_CONSOLE_UART_NUM)
+#define CONFIG_ESP_CONSOLE_UART_NUM         CONFIG_CONSOLE_UART_NUM
+#else
+#define CONFIG_ESP_CONSOLE_UART_NUM         0
+#endif
 
 #ifdef __cplusplus
 }
diff --git a/cpu/esp32/bootloader/sdkconfig_default_common.h b/cpu/esp32/bootloader/sdkconfig_default_common.h
index ed2e759998..9dcdd78d93 100644
--- a/cpu/esp32/bootloader/sdkconfig_default_common.h
+++ b/cpu/esp32/bootloader/sdkconfig_default_common.h
@@ -33,11 +33,6 @@ extern "C" {
 #define CONFIG_BOOTLOADER_FLASH_XMC_SUPPORT 1
 
 #define CONFIG_ESP_CONSOLE_UART 1
-#define CONFIG_ESP_CONSOLE_UART_DEFAULT 1
-#define CONFIG_ESP_CONSOLE_UART_NUM 0
-
-#define CONFIG_CONSOLE_UART_NUM CONFIG_ESP_CONSOLE_UART_NUM
-#define CONFIG_CONSOLE_UART_DEFAULT CONFIG_ESP_CONSOLE_UART_DEFAULT
 
 #define CONFIG_LOG_DEFAULT_LEVEL 3
 #define CONFIG_LOG_TIMESTAMP_SOURCE_RTOS 1