diff --git a/tcl/board/esp32-bridge.cfg b/tcl/board/esp32-bridge.cfg
new file mode 100644
index 0000000000..1497c48748
--- /dev/null
+++ b/tcl/board/esp32-bridge.cfg
@@ -0,0 +1,12 @@
+# Example OpenOCD configuration file for ESP32 connected via ESP USB Bridge board
+#
+# For example, OpenOCD can be started for ESP32 debugging on
+#
+#   openocd -f board/esp32-bridge.cfg
+#
+
+# Source the JTAG interface configuration file
+source [find interface/esp_usb_bridge.cfg]
+# Source the ESP32-S3 configuration file
+source [find target/esp32.cfg]
+
diff --git a/tcl/board/esp32c3-bridge.cfg b/tcl/board/esp32c3-bridge.cfg
new file mode 100644
index 0000000000..ba11f37140
--- /dev/null
+++ b/tcl/board/esp32c3-bridge.cfg
@@ -0,0 +1,11 @@
+# Example OpenOCD configuration file for ESP32-C3 connected via ESP USB Bridge board
+#
+# For example, OpenOCD can be started for ESP32-C3 debugging on
+#
+#   openocd -f board/esp32c3-bridge.cfg
+#
+
+# Source the JTAG interface configuration file
+source [find interface/esp_usb_bridge.cfg]
+# Source the ESP32-C3 configuration file
+source [find target/esp32c3.cfg]
diff --git a/tcl/board/esp32s2-bridge.cfg b/tcl/board/esp32s2-bridge.cfg
new file mode 100644
index 0000000000..ac3280a955
--- /dev/null
+++ b/tcl/board/esp32s2-bridge.cfg
@@ -0,0 +1,11 @@
+# Example OpenOCD configuration file for ESP32-S2 connected via ESP USB Bridge board
+#
+# For example, OpenOCD can be started for ESP32-S2 debugging on
+#
+#   openocd -f board/esp32s2-bridge.cfg
+#
+
+# Source the JTAG interface configuration file
+source [find interface/esp_usb_bridge.cfg]
+# Source the ESP32-S2 configuration file
+source [find target/esp32s2.cfg]
diff --git a/tcl/board/esp32s3-bridge.cfg b/tcl/board/esp32s3-bridge.cfg
new file mode 100644
index 0000000000..48fd6da54a
--- /dev/null
+++ b/tcl/board/esp32s3-bridge.cfg
@@ -0,0 +1,12 @@
+# Example OpenOCD configuration file for ESP32-S3 connected via ESP USB Bridge board
+#
+# For example, OpenOCD can be started for ESP32-S3 debugging on
+#
+#   openocd -f board/esp32s3-bridge.cfg
+#
+
+# Source the JTAG interface configuration file
+source [find interface/esp_usb_bridge.cfg]
+# Source the ESP32-S3 configuration file
+source [find target/esp32s3.cfg]
+
diff --git a/tcl/interface/esp_usb_bridge.cfg b/tcl/interface/esp_usb_bridge.cfg
new file mode 100644
index 0000000000..42b0049fe9
--- /dev/null
+++ b/tcl/interface/esp_usb_bridge.cfg
@@ -0,0 +1,7 @@
+
+interface esp_usb_jtag
+
+esp_usb_jtag_vid_pid 0x303a 0x1002
+
+#max speed
+adapter_khz 40000
\ No newline at end of file