diff --git a/components/esp_timer/src/esp_timer.c b/components/esp_timer/src/esp_timer.c
index 3ca19f642f..1c7ca76263 100644
--- a/components/esp_timer/src/esp_timer.c
+++ b/components/esp_timer/src/esp_timer.c
@@ -34,6 +34,8 @@
 #include "esp32h2/rtc.h"
 #elif CONFIG_IDF_TARGET_ESP32C2
 #include "esp32c2/rtc.h"
+#elif CONFIG_IDF_TARGET_ESP32C6
+#include "esp32c6/rtc.h"
 #endif
 
 #include "sdkconfig.h"
diff --git a/components/esp_timer/src/ets_timer_legacy.c b/components/esp_timer/src/ets_timer_legacy.c
index 841f8d04f1..d03aa7cbcd 100644
--- a/components/esp_timer/src/ets_timer_legacy.c
+++ b/components/esp_timer/src/ets_timer_legacy.c
@@ -34,6 +34,8 @@
 #include "esp32c2/rom/ets_sys.h"
 #elif CONFIG_IDF_TARGET_ESP32H2
 #include "esp32h2/rom/ets_sys.h"
+#elif CONFIG_IDF_TARGET_ESP32C6
+#include "esp32c6/rom/ets_sys.h"
 #endif
 
 /* We abuse 'timer_arg' field of ETSTimer structure to hold a pointer to esp_timer */
diff --git a/components/esp_timer/src/system_time.c b/components/esp_timer/src/system_time.c
index 6387422c86..ddc5949a0e 100644
--- a/components/esp_timer/src/system_time.c
+++ b/components/esp_timer/src/system_time.c
@@ -29,6 +29,8 @@
 #include "esp32h2/rtc.h"
 #elif CONFIG_IDF_TARGET_ESP32C2
 #include "esp32c2/rtc.h"
+#elif CONFIG_IDF_TARGET_ESP32C6
+#include "esp32c6/rtc.h"
 #endif
 
 __attribute__((unused)) static const char* TAG = "system_time";
diff --git a/components/esp_timer/test/test_ets_timer.c b/components/esp_timer/test/test_ets_timer.c
index b72e4fdf9e..15ba842ece 100644
--- a/components/esp_timer/test/test_ets_timer.c
+++ b/components/esp_timer/test/test_ets_timer.c
@@ -26,6 +26,8 @@
 #include "esp32h2/rom/ets_sys.h"
 #elif CONFIG_IDF_TARGET_ESP32C2
 #include "esp32c2/rom/ets_sys.h"
+#elif CONFIG_IDF_TARGET_ESP32C6
+#include "esp32c6/rom/ets_sys.h"
 #endif
 
 static void test_correct_delay_timer_func(void* arg)