diff --git a/components/esp_hw_support/port/pau_regdma.c b/components/esp_hw_support/port/pau_regdma.c
index 9f2b213ef7..5d340c1b0a 100644
--- a/components/esp_hw_support/port/pau_regdma.c
+++ b/components/esp_hw_support/port/pau_regdma.c
@@ -9,10 +9,11 @@
 #include <esp_types.h>
 #include "sdkconfig.h"
 #include "esp_attr.h"
-#include "soc/soc.h"
-#include "esp_private/esp_pau.h"
 #include "esp_log.h"
+#include "soc/soc.h"
 #include "soc/pcr_reg.h"
+#include "esp_private/esp_pau.h"
+#include "esp_private/periph_ctrl.h"
 
 static __attribute__((unused)) const char *TAG = "pau_regdma";
 
@@ -22,9 +23,14 @@ typedef struct {
 
 pau_context_t * __attribute__((weak)) PAU_instance(void)
 {
-    static pau_hal_context_t pau_hal = { .dev = &PAU };
+    static pau_hal_context_t pau_hal = { .dev = NULL };
     static pau_context_t pau_context = { .hal = &pau_hal };
-    *(volatile uint32_t *)PCR_REGDMA_CONF_REG |= PCR_REGDMA_CLK_EN;
+
+    if (pau_hal.dev == NULL) {
+        pau_hal.dev = &PAU;
+        periph_module_enable(PERIPH_REGDMA_MODULE);
+    }
+
     return &pau_context;
 }
 
diff --git a/components/hal/esp32c6/include/hal/clk_gate_ll.h b/components/hal/esp32c6/include/hal/clk_gate_ll.h
index df4004c48c..4e221908e3 100644
--- a/components/hal/esp32c6/include/hal/clk_gate_ll.h
+++ b/components/hal/esp32c6/include/hal/clk_gate_ll.h
@@ -74,6 +74,8 @@ static inline uint32_t periph_ll_get_clk_en_mask(periph_module_t periph)
             return PCR_TSENS_CLK_EN;
         case PERIPH_SDIO_SLAVE_MODULE:
             return PCR_SDIO_SLAVE_CLK_EN;
+        case PERIPH_REGDMA_MODULE:
+            return PCR_REGDMA_CLK_EN;
         // case PERIPH_RNG_MODULE:
         //     return PCR_WIFI_CLK_RNG_EN;
         // case PERIPH_WIFI_MODULE:
@@ -163,6 +165,8 @@ static inline uint32_t periph_ll_get_rst_en_mask(periph_module_t periph, bool en
             return PCR_DS_RST_EN;
         case PERIPH_SDIO_SLAVE_MODULE:
             return PCR_SDIO_SLAVE_RST_EN;
+        case PERIPH_REGDMA_MODULE:
+            return PCR_REGDMA_RST_EN;
         // case PERIPH_RNG_MODULE:
         //     return PCR_WIFI_CLK_RNG_EN;
         // case PERIPH_WIFI_MODULE:
@@ -245,6 +249,8 @@ static uint32_t periph_ll_get_clk_en_reg(periph_module_t periph)
             return PCR_TSENS_CLK_CONF_REG;
         case PERIPH_SDIO_SLAVE_MODULE:
             return PCR_SDIO_SLAVE_CONF_REG;
+        case PERIPH_REGDMA_MODULE:
+            return PCR_REGDMA_CONF_REG;
     default:
         return 0;
     }
@@ -307,6 +313,8 @@ static uint32_t periph_ll_get_rst_en_reg(periph_module_t periph)
             return PCR_TSENS_CLK_CONF_REG;
         case PERIPH_SDIO_SLAVE_MODULE:
             return PCR_SDIO_SLAVE_CONF_REG;
+        case PERIPH_REGDMA_MODULE:
+            return PCR_REGDMA_CONF_REG;
     default:
         return 0;
     }
diff --git a/components/soc/esp32c6/include/soc/periph_defs.h b/components/soc/esp32c6/include/soc/periph_defs.h
index 906d0ff07b..90e8d777fd 100644
--- a/components/soc/esp32c6/include/soc/periph_defs.h
+++ b/components/soc/esp32c6/include/soc/periph_defs.h
@@ -40,6 +40,7 @@ typedef enum {
     PERIPH_SYSTIMER_MODULE,
     PERIPH_SARADC_MODULE,
     PERIPH_TEMPSENSOR_MODULE,
+    PERIPH_REGDMA_MODULE,
     PERIPH_WIFI_MODULE,
     PERIPH_BT_MODULE,
     PERIPH_IEEE802154_MODULE,