diff --git a/components/esp_common/include/esp_private/gdbstub.h b/components/esp_common/include/esp_private/gdbstub.h
deleted file mode 100644
index 61c6cc8623..0000000000
--- a/components/esp_common/include/esp_private/gdbstub.h
+++ /dev/null
@@ -1,20 +0,0 @@
-// Copyright 2015-2016 Espressif Systems (Shanghai) PTE LTD
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-#pragma once
-
-/* This header exists to avoid making esp_common depend on gdbstub component for panic handler support */
-
-typedef void esp_gdbstub_frame_t;
-
-void esp_gdbstub_panic_handler(esp_gdbstub_frame_t *frame) __attribute__((noreturn));
diff --git a/components/esp_system/CMakeLists.txt b/components/esp_system/CMakeLists.txt
index 472cdd6cfe..cee7ad3301 100644
--- a/components/esp_system/CMakeLists.txt
+++ b/components/esp_system/CMakeLists.txt
@@ -10,7 +10,7 @@ idf_component_register(SRCS "intr_alloc.c"
                                   # [refactor-todo] requirements due to init code,
                                   # should be removable once using component init functions
                                   # link-time registration is used.
-                                  esp_pm app_update nvs_flash pthread app_trace
+                                  esp_pm app_update nvs_flash pthread app_trace esp_gdbstub
                     LDFRAGMENTS "linker.lf")
 
 add_subdirectory(port)
diff --git a/components/esp_system/panic.c b/components/esp_system/panic.c
index 518a75e4c7..196e46ec6d 100644
--- a/components/esp_system/panic.c
+++ b/components/esp_system/panic.c
@@ -12,6 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 #include <stdlib.h>
+#include <string.h>
 
 #include "esp_err.h"
 #include "esp_attr.h"
@@ -20,13 +21,6 @@
 #include "esp_private/usb_console.h"
 #include "esp_ota_ops.h"
 
-#if CONFIG_APPTRACE_ENABLE
-#include "esp_app_trace.h"
-#if CONFIG_SYSVIEW_ENABLE
-#include "SEGGER_RTT.h"
-#endif
-#endif // CONFIG_APPTRACE_ENABLE
-
 #include "esp_core_dump.h"
 
 #include "soc/cpu.h"
@@ -36,20 +30,11 @@
 #include "hal/wdt_types.h"
 #include "hal/wdt_hal.h"
 
-#if !CONFIG_ESP_SYSTEM_PANIC_SILENT_REBOOT
-#include <string.h>
-#include "hal/uart_hal.h"
-#endif
-
 #include "esp_private/panic_internal.h"
 #include "port/panic_funcs.h"
 
 #include "sdkconfig.h"
 
-#if CONFIG_ESP_SYSTEM_PANIC_GDBSTUB
-#include "esp_private/gdbstub.h"
-#endif
-
 #if CONFIG_ESP32_ENABLE_COREDUMP
 #include "esp_core_dump.h"
 #endif
@@ -67,8 +52,12 @@
 #endif
 #endif // CONFIG_APPTRACE_ENABLE
 
+#if !CONFIG_ESP_SYSTEM_PANIC_SILENT_REBOOT
+#include "hal/uart_hal.h"
+#endif
+
 #if CONFIG_ESP_SYSTEM_PANIC_GDBSTUB
-#include "esp_private/gdbstub.h"
+#include "esp_gdbstub.h"
 #endif
 
 bool g_panic_abort = false;