diff --git a/cpu/esp_common/Makefile.dep b/cpu/esp_common/Makefile.dep
index a608ac94c6af..346861af4995 100644
--- a/cpu/esp_common/Makefile.dep
+++ b/cpu/esp_common/Makefile.dep
@@ -93,11 +93,14 @@ ifneq (,$(filter esp_wifi,$(USEMODULE)))
 endif
 
 ifneq (,$(filter esp_wifi_any,$(USEMODULE)))
-  USEMODULE += netdev_legacy_api
   USEMODULE += netopt
   USEMODULE += ztimer_msec
 endif
 
+ifneq (,$(filter esp_eth esp_wifi esp_now,$(USEMODULE)))
+  USEMODULE += netdev_legacy_api
+endif
+
 ifneq (,$(filter esp_freertos_common,$(USEMODULE)))
   ifneq (,$(filter ztimer_msec,$(USEMODULE)))
     USEMODULE += core_thread_flags