diff --git a/tools/gdb_panic_server.py b/tools/gdb_panic_server.py
index 89b5ab93e0..0362c57c21 100644
--- a/tools/gdb_panic_server.py
+++ b/tools/gdb_panic_server.py
@@ -69,7 +69,8 @@ GDB_REGS_INFO_RISCV_ILP32 = [
 
 
 GDB_REGS_INFO = {
-    'esp32c3': GDB_REGS_INFO_RISCV_ILP32
+    'esp32c3': GDB_REGS_INFO_RISCV_ILP32,
+    'esp32h2': GDB_REGS_INFO_RISCV_ILP32
 }
 
 PanicInfo = namedtuple('PanicInfo', 'core_id regs stack_base_addr stack_data')
@@ -161,7 +162,8 @@ def parse_idf_riscv_panic_output(panic_text):  # type: (str) -> PanicInfo
 
 
 PANIC_OUTPUT_PARSERS = {
-    'esp32c3': parse_idf_riscv_panic_output
+    'esp32c3': parse_idf_riscv_panic_output,
+    'esp32h2': parse_idf_riscv_panic_output
 }