diff --git a/.github/workflows/build_and_push.yml b/.github/workflows/build_and_push.yml
index b0c9181..108166a 100644
--- a/.github/workflows/build_and_push.yml
+++ b/.github/workflows/build_and_push.yml
@@ -94,6 +94,7 @@ jobs:
           - armhf
           - aarch64
           - coverage
+          - esp32
           # - chibios-py2 # Deprecated
     steps:
       - uses: actions/checkout@v4
diff --git a/docker/Dockerfile_dev-esp32 b/docker/Dockerfile_dev-esp32
new file mode 100644
index 0000000..da13fcd
--- /dev/null
+++ b/docker/Dockerfile_dev-esp32
@@ -0,0 +1,39 @@
+# syntax=docker/dockerfile:1
+ARG TAG="latest"
+FROM ardupilot/ardupilot-dev-base:${TAG}
+
+# ESP-IDF system deps not already provided by the base image
+RUN apt-get update && apt-get install --no-install-recommends -y \
+    bison \
+    dfu-util \
+    flex \
+    gperf \
+    libffi-dev \
+    libncurses-dev \
+    libssl-dev \
+    libusb-1.0-0 \
+    python3-cryptography \
+    python3-pyelftools \
+    python3-setuptools \
+    python3-venv \
+    && apt-get clean \
+    && apt-get -y autoremove \
+    && apt-get autoclean \
+    && rm -rf /var/lib/apt/lists/* /tmp/* /var/tmp/*
+
+# Bake the ESP-IDF toolchain at the commit pinned by ardupilot's
+# Tools/scripts/esp32_get_idf.sh. Keep these two in sync: when ardupilot bumps the
+# IDF pin, update IDF_COMMIT here, rebuild and retag this image, then bump the tag
+# referenced by ardupilot's .github/workflows/esp32_build.yml.
+ARG IDF_COMMIT="cc3203dc4f087ab41b434afff1ed7520c6d90993"
+ENV IDF_PATH=/opt/esp_idf
+ENV IDF_TOOLS_PATH=/opt/espressif
+RUN git clone -b release/v5.3 https://github.com/espressif/esp-idf.git "$IDF_PATH" \
+    && cd "$IDF_PATH" \
+    && git checkout "$IDF_COMMIT" \
+    && git submodule update --init --recursive --depth=1 \
+    && ./install.sh esp32,esp32s3 \
+    && rm -rf "$IDF_TOOLS_PATH/dist"
+
+# Build-time python deps the workflow used to pip-install on every run
+RUN python -m pip install --no-cache-dir -U pymavlink MAVProxy geocoder dronecan "pydantic<2.12"
diff --git a/scripts/build_all.sh b/scripts/build_all.sh
index 4635419..029a996 100755
--- a/scripts/build_all.sh
+++ b/scripts/build_all.sh
@@ -25,6 +25,8 @@ echo "BUILDING COVERAGE"
 docker build -t ardupilot/ardupilot-dev-coverage:latest -f Dockerfile_dev-coverage .
 echo "BUILDING PERIPH"
 docker build -t ardupilot/ardupilot-dev-periph:latest -f Dockerfile_dev-periph .
+echo "BUILDING ESP32"
+docker build -t ardupilot/ardupilot-dev-esp32:latest -f Dockerfile_dev-esp32 .
 echo "BUILDING ROS2 HUMBLE"
 docker build --build-arg ROS_DISTRO=humble -t ardupilot/ardupilot-dev-ros:humble -f Dockerfile_dev-ros .
 echo "BUILDING ROS2 JAZZY"