diff --git a/.github/workflows/python_lint.yml b/.github/workflows/python_lint.yml
index 5e36177855..1ebf84a3d1 100644
--- a/.github/workflows/python_lint.yml
+++ b/.github/workflows/python_lint.yml
@@ -13,7 +13,7 @@ jobs:
     runs-on: ubuntu-latest
     strategy:
       matrix:
-        python-version: [3.6, 3.7, 3.8]
+        python-version: ["3.7", "3.8", "3.9", "3.10"]
 
     steps:
       - name: Checkout
diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index 15c408c8f9..f78c22a945 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -56,12 +56,14 @@ variables:
 
   # Docker images
   BOT_DOCKER_IMAGE_TAG: ":latest"
-  ESP_ENV_IMAGE: "${CI_DOCKER_REGISTRY}/esp-env-v5.0:1"
-  AFL_FUZZER_TEST_IMAGE: "${CI_DOCKER_REGISTRY}/afl-fuzzer-test-v5.0:1-1"
-  CLANG_STATIC_ANALYSIS_IMAGE: "${CI_DOCKER_REGISTRY}/clang-static-analysis-v5.0:1-1"
-  ESP_IDF_DOC_ENV_IMAGE: "${CI_DOCKER_REGISTRY}/esp-idf-doc-env-v5.0:1-2"
+
+  ESP_IDF_DOC_ENV_IMAGE: "$CI_DOCKER_REGISTRY/esp-idf-doc-env-v5.0:2-2"
+  ESP_ENV_IMAGE: "$CI_DOCKER_REGISTRY/esp-env-v5.0:2"
+  AFL_FUZZER_TEST_IMAGE: "$CI_DOCKER_REGISTRY/afl-fuzzer-test-v5.0:2-1"
+  CLANG_STATIC_ANALYSIS_IMAGE: "${CI_DOCKER_REGISTRY}/clang-static-analysis-v5.0:2-1"
+
   SONARQUBE_SCANNER_IMAGE: "${CI_DOCKER_REGISTRY}/sonarqube-scanner:3"
-  LINUX_SHELL_IMAGE: "${CI_DOCKER_REGISTRY}/linux-shells:2"
+  LINUX_SHELL_IMAGE: "${CI_DOCKER_REGISTRY}/linux-shells-v5.0:2"
 
   # target test config file, used by assign test job
   CI_TARGET_TEST_CONFIG_FILE: "$CI_PROJECT_DIR/.gitlab/ci/target-test.yml"
diff --git a/.gitlab/ci/build.yml b/.gitlab/ci/build.yml
index 86dc64b3f2..80aa6cc0ff 100644
--- a/.gitlab/ci/build.yml
+++ b/.gitlab/ci/build.yml
@@ -21,7 +21,7 @@
     - job: fast_template_app
       artifacts: false
   variables:
-    PYTHON_VER: 3.6.13
+    PYTHON_VER: 3.7.10
   artifacts:
     paths:
       - "**/build*/size.json"
@@ -202,7 +202,7 @@ build_ssc_esp32s3:
     OUTPUT_PATH: ${CI_PROJECT_DIR}/tools/unit-test-app/output
     BUILD_SYSTEM: "cmake"
     TEST_TYPE: "unit_test"
-    PYTHON_VER: 3.6.13
+    PYTHON_VER: 3.7.10
     LDGEN_CHECK_MAPPING: 1
   script:
     - ${IDF_PATH}/tools/ci/find_apps_build_apps.sh
@@ -260,7 +260,7 @@ build_esp_idf_tests_cmake_esp32c2:
     TEST_TYPE: example_test
     LOG_PATH: ${CI_PROJECT_DIR}/log_${TEST_PREFIX}
     BUILD_PATH: ${CI_PROJECT_DIR}/build_${TEST_PREFIX}
-    PYTHON_VER: 3.6.13
+    PYTHON_VER: 3.7.10
     LDGEN_CHECK_MAPPING: 1
   script:
     # it's not possible to build 100% out-of-tree and have the "artifacts"
diff --git a/.gitlab/ci/docs.yml b/.gitlab/ci/docs.yml
index 6ef800c6fc..6da17e6f12 100644
--- a/.gitlab/ci/docs.yml
+++ b/.gitlab/ci/docs.yml
@@ -58,7 +58,7 @@ check_docs_lang_sync:
 .build_docs_template:
   image: $ESP_IDF_DOC_ENV_IMAGE
   variables:
-    PYTHON_VER: 3.6.13
+    PYTHON_VER: 3.7.10
   tags:
     - build_docs
   dependencies: []
@@ -74,7 +74,7 @@ check_docs_lang_sync:
 check_docs_gh_links:
   image: $ESP_IDF_DOC_ENV_IMAGE
   variables:
-    PYTHON_VER: 3.6.13
+    PYTHON_VER: 3.7.10
   extends:
     - .pre_check_job_template
     - .doc-rules:build:docs
@@ -151,7 +151,7 @@ build_docs_pdf:
     - .before_script_no_sync_submodule
   image: $ESP_IDF_DOC_ENV_IMAGE
   variables:
-    PYTHON_VER: 3.6.13
+    PYTHON_VER: 3.7.10
     DOCS_BUILD_DIR: "${IDF_PATH}/docs/_build/"
     PYTHONUNBUFFERED: 1
   stage: test_deploy
diff --git a/.gitlab/ci/host-test.yml b/.gitlab/ci/host-test.yml
index 02de85ab79..c6650ef8dc 100644
--- a/.gitlab/ci/host-test.yml
+++ b/.gitlab/ci/host-test.yml
@@ -3,7 +3,7 @@
   stage: host_test
   image: $ESP_ENV_IMAGE
   variables:
-    PYTHON_VER: 3.6.13
+    PYTHON_VER: 3.7.10
   tags:
     - host_test
   dependencies: []
diff --git a/.gitlab/ci/pre_check.yml b/.gitlab/ci/pre_check.yml
index aa69df9abe..7677bf217f 100644
--- a/.gitlab/ci/pre_check.yml
+++ b/.gitlab/ci/pre_check.yml
@@ -52,7 +52,7 @@ check_python_style:
     - .pre_check_base_template
     - .rules:patterns:python-files
   variables:
-    PYTHON_VER: 3.6.13
+    PYTHON_VER: 3.7.10
   artifacts:
     when: on_failure
     paths:
@@ -64,7 +64,7 @@ check_python_style:
 test_check_kconfigs:
   extends: .pre_check_job_template
   variables:
-    PYTHON_VER: 3.6.13
+    PYTHON_VER: 3.7.10
   artifacts:
     when: on_failure
     paths:
diff --git a/docs/en/api-guides/build-system.rst b/docs/en/api-guides/build-system.rst
index 6c41cfe54c..dbf941dfcd 100644
--- a/docs/en/api-guides/build-system.rst
+++ b/docs/en/api-guides/build-system.rst
@@ -80,8 +80,6 @@ For commands that are not known to ``idf.py`` an attempt to execute them as a bu
 
 The command ``idf.py`` supports `shell autocompletion <https://click.palletsprojects.com/shell-completion/>`_ for bash, zsh and fish shells.
 
-In order to make `shell autocompletion <https://click.palletsprojects.com/shell-completion/>`_ supported, please make sure you have at least Python 3.5 and `click <https://click.palletsprojects.com/>`_ 7.1 or newer (:ref:`see also <get-started-get-prerequisites>`).
-
 To enable autocompletion for ``idf.py`` use the ``export`` command (:ref:`see this <get-started-export>`). Autocompletion is initiated by pressing the TAB key. Type "idf.py -" and press the TAB key to autocomplete options.
 
 The autocomplete support for PowerShell is planned in the future.
@@ -192,7 +190,7 @@ For more detailed information about integrating ESP-IDF with CMake into an IDE,
 Setting up the Python Interpreter
 ---------------------------------
 
-ESP-IDF works well with all supported Python versions. It should work out-of-box even if you have a legacy system where the default ``python`` interpreter is still Python 2.7, however, it is advised to switch to Python 3 if possible.
+ESP-IDF works well with Python version 3.7+.
 
 ``idf.py`` and other Python scripts will run with the default Python interpreter, i.e. ``python``. You can switch to a different one like ``python3 $IDF_PATH/tools/idf.py ...``, or you can set up a shell alias or another script to simplify the command.
 
diff --git a/docs/en/api-guides/tools/idf-docker-image.rst b/docs/en/api-guides/tools/idf-docker-image.rst
index 5d89108fed..6cf8a16431 100644
--- a/docs/en/api-guides/tools/idf-docker-image.rst
+++ b/docs/en/api-guides/tools/idf-docker-image.rst
@@ -9,7 +9,7 @@ IDF Docker image (``espressif/idf``) is intended for building applications and l
 The image contains:
 
 - Common utilities such as git, wget, curl, zip.
-- Python 3.6 or newer.
+- Python 3.7 or newer.
 - A copy of a specific version of ESP-IDF (see below for information about versions). ``IDF_PATH`` environment variable is set, and points to ESP-IDF location in the container.
 - All the build tools required for the specific version of ESP-IDF: CMake, ninja, cross-compiler toolchains, etc.
 - All Python packages required by ESP-IDF are installed in a virtual environment.
diff --git a/docs/en/contribute/install-pre-commit-hook.rst b/docs/en/contribute/install-pre-commit-hook.rst
index 688ad5cc76..df1b2d12e9 100644
--- a/docs/en/contribute/install-pre-commit-hook.rst
+++ b/docs/en/contribute/install-pre-commit-hook.rst
@@ -4,7 +4,7 @@ Install pre-commit Hook for ESP-IDF Project
 Required Dependency
 -------------------
 
-Python 3.6.1 or above. This is our recommended python version for IDF developers.
+Python 3.7.* or above. This is our recommended python version for IDF developers.
 
 If you still have python versions not compatible, update your python versions before installing the pre-commit hook.
 
diff --git a/docs/en/get-started/linux-setup.rst b/docs/en/get-started/linux-setup.rst
index 2fce376cbb..d41ae82baa 100644
--- a/docs/en/get-started/linux-setup.rst
+++ b/docs/en/get-started/linux-setup.rst
@@ -38,7 +38,7 @@ With some Linux distributions you may get the ``Failed to open port /dev/ttyUSB0
 Python compatibility
 ====================
 
-ESP-IDF supports Python 3.6 or newer. It is recommended to upgrade your operating system to a recent version satisfying this requirement. Other options include the installation of Python from `sources <https://www.python.org/downloads/>`_ or the use of a Python version management system such as `pyenv <https://github.com/pyenv/pyenv>`_.
+ESP-IDF supports Python 3.7 or newer. It is recommended to upgrade your operating system to a recent version satisfying this requirement. Other options include the installation of Python from `sources <https://www.python.org/downloads/>`_ or the use of a Python version management system such as `pyenv <https://github.com/pyenv/pyenv>`_.
 
 Next Steps
 ==========
diff --git a/docs/zh_CN/get-started/linux-setup.rst b/docs/zh_CN/get-started/linux-setup.rst
index a7f58d22e4..5d7d414ef4 100644
--- a/docs/zh_CN/get-started/linux-setup.rst
+++ b/docs/zh_CN/get-started/linux-setup.rst
@@ -38,7 +38,7 @@ Linux 平台工具链的标准设置
 兼容的 Python 版本
 =================================
 
-ESP-IDF 支持 Python 3.6 及以上版本，建议升级操作系统到最新版本从而更新 Python。也可选择从 `sources <https://www.python.org/downloads/>`_ 安装最新版 Python，或使用 Python 管理系统如 `pyenv <https://github.com/pyenv/pyenv>`_ 对版本进行升级管理。
+ESP-IDF 支持 Python 3.7 及以上版本，建议升级操作系统到最新版本从而更新 Python。也可选择从 `sources <https://www.python.org/downloads/>`_ 安装最新版 Python，或使用 Python 管理系统如 `pyenv <https://github.com/pyenv/pyenv>`_ 对版本进行升级管理。
 
 后续步骤
 ==========
diff --git a/tools/ci/setup_python.sh b/tools/ci/setup_python.sh
index 5b24c1eff9..bd77ba7a3c 100644
--- a/tools/ci/setup_python.sh
+++ b/tools/ci/setup_python.sh
@@ -4,7 +4,7 @@ if [ -z ${PYTHON_VER+x} ]; then
     # Use this version of the Python interpreter if it was not defined before.
     # 3.6.13 is the default python3 interpreter in esp32-ci-env
     # Jobs which doesn't support this version should define PYTHON_VER themselves
-    PYTHON_VER=3.6.13
+    PYTHON_VER=3.7.10
 fi
 
 if [ -f /opt/pyenv/activate ];
diff --git a/tools/python_version_checker.py b/tools/python_version_checker.py
index ca1c73bd87..740aadc8cd 100644
--- a/tools/python_version_checker.py
+++ b/tools/python_version_checker.py
@@ -1,4 +1,4 @@
-# SPDX-FileCopyrightText: 2021 Espressif Systems (Shanghai) CO LTD
+# SPDX-FileCopyrightText: 2021-2022 Espressif Systems (Shanghai) CO LTD
 #
 # SPDX-License-Identifier: Apache-2.0
 #
@@ -6,7 +6,7 @@
 #
 # There are related tools/detect_python.{sh,fish} scripts which are called earlier when the paths are not properly
 # set-up and they only intend to prefer the use of Python 3 over Python 2. Why not more? All possible executables
-# (python3.6, python3.7, ...) cannot be hardcoded there and at the end, the user is responsible to set-up a system
+# (python3.7, python3.8, ...) cannot be hardcoded there and at the end, the user is responsible to set-up a system
 # where "python" or "python3" of compatible version is available.
 
 import sys
@@ -18,7 +18,7 @@ try:
 except ImportError:
     pass
 
-OLDEST_PYTHON_SUPPORTED = (3, 6)  # keep it as tuple for comparison with sys.version_info
+OLDEST_PYTHON_SUPPORTED = (3, 7)  # keep it as tuple for comparison with sys.version_info
 
 
 def _ver_to_str(it):  # type: (Iterable) -> str
@@ -31,6 +31,9 @@ def is_supported():  # type: () -> bool
 
 def check():  # type: () -> None
     if not is_supported():
-        raise RuntimeError('ESP-IDF supports Python {} or newer but you are using Python {}. Please upgrade your '
-                           'installation as described in the documentation.'.format(_ver_to_str(OLDEST_PYTHON_SUPPORTED),
-                                                                                    _ver_to_str(sys.version_info[:3])))
+        raise RuntimeError(
+            'ESP-IDF supports Python {} or newer but you are using Python {}. Please upgrade your '
+            'installation as described in the documentation.'.format(
+                _ver_to_str(OLDEST_PYTHON_SUPPORTED), _ver_to_str(sys.version_info[:3])
+            )
+        )