diff --git a/components/bt/controller/esp32c3/Kconfig.in b/components/bt/controller/esp32c3/Kconfig.in
index 3d0991c5b4..e04dc4bfe0 100644
--- a/components/bt/controller/esp32c3/Kconfig.in
+++ b/components/bt/controller/esp32c3/Kconfig.in
@@ -467,3 +467,11 @@ config BT_CTRL_SCAN_BACKOFF_UPPERLIMITMAX
         Disable active scan backoff. The bluetooth spec requires that scanners should run a backoff procedure to
         minimize collision of scan request PDUs from nultiple scanners. If scan backoff is disabled, in active
         scanning, scan request PDU will be sent every time when HW receives scannable ADV PDU.
+
+config BT_BLE_ADV_DATA_LENGTH_ZERO_AUX
+    bool "Enable aux packet when ext adv data length is zero"
+    default n
+    help
+        When this option is enabled, auxiliary packets will be present in the events of
+        'Non-Connectable and Non-Scannable' regardless of whether the advertising length is 0.
+        If this option is not enabled, auxiliary packets will only be present when the advertising length is not 0.
diff --git a/components/bt/controller/lib_esp32c3_family b/components/bt/controller/lib_esp32c3_family
index 393ac4c33b..9d40b3bc0a 160000
--- a/components/bt/controller/lib_esp32c3_family
+++ b/components/bt/controller/lib_esp32c3_family
@@ -1 +1 @@
-Subproject commit 393ac4c33b419226aac9d1e8f1b5d553b7f3bc97
+Subproject commit 9d40b3bc0ac38d72b66fe0f612a8dda64c7330d7
diff --git a/components/bt/include/esp32c3/include/esp_bt.h b/components/bt/include/esp32c3/include/esp_bt.h
index 7376ac8397..64760fc62c 100644
--- a/components/bt/include/esp32c3/include/esp_bt.h
+++ b/components/bt/include/esp32c3/include/esp_bt.h
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2015-2023 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2015-2024 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -19,7 +19,7 @@ extern "C" {
 #endif
 
 #define ESP_BT_CTRL_CONFIG_MAGIC_VAL    0x5A5AA5A5
-#define ESP_BT_CTRL_CONFIG_VERSION      0x02307120
+#define ESP_BT_CTRL_CONFIG_VERSION      0x02401120
 
 #define ESP_BT_HCI_TL_MAGIC_VALUE   0xfadebead
 #define ESP_BT_HCI_TL_VERSION       0x00010000
@@ -188,6 +188,12 @@ typedef void (* esp_bt_hci_tl_callback_t) (void *arg, uint8_t status);
 #define BT_BLE_CCA_MODE (0)
 #endif
 
+#if defined(CONFIG_BT_BLE_ADV_DATA_LENGTH_ZERO_AUX)
+#define BT_BLE_ADV_DATA_LENGTH_ZERO_AUX (CONFIG_BT_BLE_ADV_DATA_LENGTH_ZERO_AUX)
+#else
+#define BT_BLE_ADV_DATA_LENGTH_ZERO_AUX (0)
+#endif
+
 #define AGC_RECORRECT_EN       ((BT_CTRL_AGC_RECORRECT_EN << 0) | (BT_CTRL_CODED_AGC_RECORRECT <<1) | (BT_CTRL_AGC_RECORRECT_NEW << 2))
 
 #define CFG_MASK_BIT_SCAN_DUPLICATE_OPTION    (1<<0)
@@ -234,6 +240,7 @@ typedef void (* esp_bt_hci_tl_callback_t) (void *arg, uint8_t status);
     .dup_list_refresh_period = DUPL_SCAN_CACHE_REFRESH_PERIOD,             \
     .ble_50_feat_supp  = BT_CTRL_50_FEATURE_SUPPORT,                       \
     .ble_cca_mode = BT_BLE_CCA_MODE,                                       \
+    .ble_data_lenth_zero_aux = BT_BLE_ADV_DATA_LENGTH_ZERO_AUX,            \
 }
 
 #else
@@ -305,6 +312,7 @@ typedef struct {
     uint16_t dup_list_refresh_period;       /*!< duplicate scan list refresh time */
     bool ble_50_feat_supp;                  /*!< BLE 5.0 feature support */
     uint8_t ble_cca_mode;                   /*!< BLE CCA mode */
+    uint8_t ble_data_lenth_zero_aux;        /*!< Config ext adv aux option*/
 } esp_bt_controller_config_t;
 
 /**
diff --git a/components/esp_rom/esp32c3/ld/esp32c3.rom.eco7.ld b/components/esp_rom/esp32c3/ld/esp32c3.rom.eco7.ld
index bb2f80581c..54880c5a48 100644
--- a/components/esp_rom/esp32c3/ld/esp32c3.rom.eco7.ld
+++ b/components/esp_rom/esp32c3/ld/esp32c3.rom.eco7.ld
@@ -204,7 +204,6 @@ r_lld_adv_ext_chain_scannable_construct = 0x40001b58;
 
 r_lld_scan_process_pkt_rx = 0x40001280;
 r_llm_le_features_get = 0x400013b0;
-r_lld_adv_ext_chain_none_construct = 0x40001b50;
 
 /* ble functions rename */
 r_lld_init_start_hack = 0x400011a4;
@@ -217,6 +216,7 @@ r_lld_res_list_rem = 0x40004680;
 r_lld_adv_start_hook = 0x40001c80;
 r_lld_con_evt_start_cbk_eco = 0x40001d1c;
 r_lld_con_tx_prog_new_packet = 0x40001b74;
+r_lld_adv_ext_chain_none_construct = 0x40001b50;
 */