diff --git a/cpu/esp32/Kconfig.esp32s2 b/cpu/esp32/Kconfig.esp32s2
index 7c0a0c32fe..d27f38ef8b 100644
--- a/cpu/esp32/Kconfig.esp32s2
+++ b/cpu/esp32/Kconfig.esp32s2
@@ -30,6 +30,7 @@ config CPU_FAM_ESP32S2
     select MODULE_PTHREAD if MODULE_CPP
     select MODULE_RTT_RTC if HAS_PERIPH_RTT && MODULE_PERIPH_RTC
     select MODULE_USBDEV_SYNOPSYS_DWC2 if MODULE_PERIPH_USBDEV
+    select MODULE_USB_BOARD_RESET if MODULE_USBUS_CDC_ACM || MODULE_TINYUSB_CLASS_CDC
     imply MODULE_NEWLIB_NANO
 
 config CPU_FAM
diff --git a/cpu/esp32/Kconfig.esp32s3 b/cpu/esp32/Kconfig.esp32s3
index 53ff34e8c0..99c7316233 100644
--- a/cpu/esp32/Kconfig.esp32s3
+++ b/cpu/esp32/Kconfig.esp32s3
@@ -37,6 +37,7 @@ config CPU_FAM_ESP32S3
     select MODULE_PTHREAD if MODULE_CPP
     select MODULE_RTT_RTC if HAS_PERIPH_RTT && MODULE_PERIPH_RTC
     select MODULE_USBDEV_SYNOPSYS_DWC2 if MODULE_PERIPH_USBDEV
+    select MODULE_USB_BOARD_RESET if MODULE_USBUS_CDC_ACM || MODULE_TINYUSB_CLASS_CDC
     imply MODULE_NEWLIB_NANO
 
 config CPU_FAM
diff --git a/cpu/esp32/Makefile b/cpu/esp32/Makefile
index 1c18ffcba3..91a69869e9 100644
--- a/cpu/esp32/Makefile
+++ b/cpu/esp32/Makefile
@@ -13,6 +13,10 @@ ifneq (, $(filter esp_bootloader, $(USEMODULE)))
     DIRS += bootloader
 endif
 
+ifneq (, $(filter usb_board_reset, $(USEMODULE)))
+    SRC += usb_reset.c
+endif
+
 ifneq (, $(filter esp_ble_nimble, $(USEMODULE)))
     DIRS += esp-ble-nimble
 endif
diff --git a/cpu/esp32/Makefile.dep b/cpu/esp32/Makefile.dep
index 7f12326f49..18bc4421ad 100644
--- a/cpu/esp32/Makefile.dep
+++ b/cpu/esp32/Makefile.dep
@@ -184,3 +184,10 @@ endif
 ifneq (,$(filter esp_jtag,$(USEMODULE)))
   FEATURES_REQUIRED += esp_jtag
 endif
+
+# enable bootloader reset over USB, requires CDC ACM to be used
+ifneq (,$(filter usbus_cdc_acm tinyusb_class_cdc,$(USEMODULE)))
+  USEMODULE += usb_board_reset
+
+  include $(RIOTMAKE)/tools/usb_board_reset.mk
+endif
diff --git a/cpu/esp32/usb_reset.c b/cpu/esp32/usb_reset.c
new file mode 100644
index 0000000000..f3647f6edf
--- /dev/null
+++ b/cpu/esp32/usb_reset.c
@@ -0,0 +1,68 @@
+/*
+ * Copyright (C) 2023 Benjamin Valentin
+ *
+ * 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.
+ */
+
+/**
+ * @ingroup     cpu_esp32
+ * @{
+ *
+ * @file
+ * @brief       Trigger reset to the bootloader stored in the internal boot ROM
+ *              memory.
+ *
+ *              This will start the USB/UART bootloader.
+ *
+ * @author      Benjamin Valentin <benpicco@googlemail.com>
+ * @author      Gunar Schorcht <gunar@schorcht.net>
+ *
+ * @}
+ */
+
+#include "driver/periph_ctrl.h"
+#include "rom/usb/chip_usb_dw_wrapper.h"
+#include "rom/usb/usb_persist.h"
+#include "soc/rtc_cntl_reg.h"
+#include "soc/rtc_cntl_struct.h"
+#include "soc/soc_caps.h"
+#if SOC_USB_SERIAL_JTAG_SUPPORTED
+#include "soc/usb_serial_jtag_reg.h"
+#include "soc/usb_serial_jtag_struct.h"
+#endif
+
+#include "periph/pm.h"
+
+static void _reconfigure_usb(void)
+{
+#ifdef CPU_FAM_ESP32S3
+    /* disable USB OTG controller */
+    periph_module_reset(PERIPH_USB_MODULE);
+    periph_module_disable(PERIPH_USB_MODULE);
+
+    /* allow USB Serial/JTAG to use the internal USB transceiver */
+    RTCCNTL.usb_conf.sw_usb_phy_sel = 0;
+    /* control the internal USB transceiver selection via hardware (efuse) */
+    RTCCNTL.usb_conf.sw_hw_usb_phy_sel = 0;
+    /* don't enable USB transceiver function */
+    RTCCNTL.usb_conf.usb_pad_enable = 0;
+
+    /* select internal PHY for USB Serial/JTAG */
+    USB_SERIAL_JTAG.conf0.phy_sel = 0;
+    /* enable USB pad function */
+    USB_SERIAL_JTAG.conf0.usb_pad_enable = 1;
+#endif
+}
+
+void __attribute__((weak)) usb_board_reset_in_bootloader(void)
+{
+    /* If we are here, the USB port is not connected to the Serial/JTAG interface.
+       We have to re-configure it back to this mode first. */
+    _reconfigure_usb();
+
+    chip_usb_set_persist_flags(USBDC_PERSIST_ENA);
+    REG_WRITE(RTC_CNTL_OPTION1_REG, RTC_CNTL_FORCE_DOWNLOAD_BOOT);
+    pm_reboot();
+}