diff --git a/components/esp_hal_debug_assist/esp32h21/include/hal/riscv_trace_ll.h b/components/esp_hal_debug_assist/esp32h21/include/hal/riscv_trace_ll.h
new file mode 100644
index 00000000000..cd301883be0
--- /dev/null
+++ b/components/esp_hal_debug_assist/esp32h21/include/hal/riscv_trace_ll.h
@@ -0,0 +1,163 @@
+/*
+ * SPDX-FileCopyrightText: 2026 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+/*
+ * ESP32-H21 has a v1.0-spec trace encoder: no filter unit, no encoder config
+ * register (delta/full address, stall, halt, reset, debug trigger) and no AHB
+ * config register, so the LL only exposes the base register set. Its resync
+ * mode field is 1 bit with a different encoding than the v2.0 targets, handled
+ * in riscv_trace_ll_set_resync_mode() below.
+ */
+
+#pragma once
+
+#include <stdint.h>
+#include <stdbool.h>
+
+#include "soc/trace_reg.h"
+#include "soc/trace_struct.h"
+#include "soc/pcr_struct.h"
+#include "hal/assert.h"
+#include "hal/riscv_trace_types.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/** @brief Return the register block for the given core. */
+static inline trace_dev_t *riscv_trace_ll_get_hw(int core)
+{
+    HAL_ASSERT(core == 0);
+    (void)core;
+    return &TRACE;
+}
+
+/*---------------------------------------------------------------------------
+ * Clock and reset
+ *--------------------------------------------------------------------------*/
+
+/** @brief Enable or disable the TRACE clock. */
+static inline void riscv_trace_ll_enable_bus_clock(bool enable)
+{
+    PCR.trace_conf.trace_clk_en = enable;
+}
+
+/** @brief Assert and release the reset of the encoder. */
+static inline void riscv_trace_ll_reset_register(int core)
+{
+    (void)core;
+    PCR.trace_conf.trace_rst_en = 1;
+    PCR.trace_conf.trace_rst_en = 0;
+}
+
+/** @brief Enable the per-module register clock gate. */
+static inline void riscv_trace_ll_enable_module_clock(trace_dev_t *hw, bool enable)
+{
+    hw->clock_gate.clk_en = enable;
+}
+
+/*---------------------------------------------------------------------------
+ * Memory configuration
+ *--------------------------------------------------------------------------*/
+
+static inline void riscv_trace_ll_set_mem_start_addr(trace_dev_t *hw, uint32_t addr)
+{
+    hw->mem_start_addr.mem_start_addr = addr;
+}
+
+static inline void riscv_trace_ll_set_mem_end_addr(trace_dev_t *hw, uint32_t addr)
+{
+    hw->mem_end_addr.mem_end_addr = addr;
+}
+
+static inline uint32_t riscv_trace_ll_get_mem_current_addr(trace_dev_t *hw)
+{
+    return hw->mem_current_addr.mem_current_addr;
+}
+
+/** @brief Reload the current address from the start address. */
+static inline void riscv_trace_ll_update_mem_current_addr(trace_dev_t *hw)
+{
+    hw->mem_addr_update.mem_current_addr_update = 1;
+}
+
+/*---------------------------------------------------------------------------
+ * Status
+ *--------------------------------------------------------------------------*/
+
+static inline uint32_t riscv_trace_ll_get_fifo_status(trace_dev_t *hw)
+{
+    return hw->fifo_status.val;
+}
+
+/*---------------------------------------------------------------------------
+ * Trigger, loop mode and restart
+ *--------------------------------------------------------------------------*/
+
+static inline void riscv_trace_ll_trigger_on(trace_dev_t *hw)
+{
+    hw->trigger.trigger_on = 1;
+}
+
+static inline void riscv_trace_ll_trigger_off(trace_dev_t *hw)
+{
+    hw->trigger.trigger_off = 1;
+}
+
+static inline void riscv_trace_ll_set_mem_loop(trace_dev_t *hw, bool loop)
+{
+    hw->trigger.mem_loop = loop;
+}
+
+static inline void riscv_trace_ll_set_restart_ena(trace_dev_t *hw, bool enable)
+{
+    hw->trigger.restart_ena = enable;
+}
+
+/*---------------------------------------------------------------------------
+ * Resynchronization
+ *--------------------------------------------------------------------------*/
+
+/** @brief Whether the resync counter can represent the given mode. */
+static inline bool riscv_trace_ll_resync_mode_is_supported(uint32_t mode)
+{
+    // 1-bit field: this encoder always counts and has no "disabled" mode.
+    return mode == RISCV_TRACE_RESYNC_PACKET || mode == RISCV_TRACE_RESYNC_CYCLE;
+}
+
+static inline void riscv_trace_ll_set_resync_mode(trace_dev_t *hw, uint32_t mode)
+{
+    // 1-bit field: 0 = count by cycle, 1 = count by packet.
+    hw->resync_prolonged.resync_mode = (mode == RISCV_TRACE_RESYNC_PACKET);
+}
+
+static inline void riscv_trace_ll_set_resync_threshold(trace_dev_t *hw, uint32_t threshold)
+{
+    hw->resync_prolonged.resync_prolonged = threshold;
+}
+
+/*---------------------------------------------------------------------------
+ * Interrupts
+ *--------------------------------------------------------------------------*/
+
+static inline void riscv_trace_ll_set_intr_ena(trace_dev_t *hw, uint32_t mask)
+{
+    hw->intr_ena.val = mask;
+}
+
+static inline uint32_t riscv_trace_ll_get_intr_raw(trace_dev_t *hw)
+{
+    return hw->intr_raw.val;
+}
+
+static inline void riscv_trace_ll_clear_intr(trace_dev_t *hw, uint32_t mask)
+{
+    hw->intr_clr.val = mask;
+}
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/components/esp_riscv_trace/test_apps/basic/README.md b/components/esp_riscv_trace/test_apps/basic/README.md
index 6d2d5a419b8..52f194e67f6 100644
--- a/components/esp_riscv_trace/test_apps/basic/README.md
+++ b/components/esp_riscv_trace/test_apps/basic/README.md
@@ -1,5 +1,5 @@
-| Supported Targets | ESP32-C5 | ESP32-C6 | ESP32-C61 | ESP32-H2 | ESP32-H4 | ESP32-P4 | ESP32-S31 |
-| ----------------- | -------- | -------- | --------- | -------- | -------- | -------- | --------- |
+| Supported Targets | ESP32-C5 | ESP32-C6 | ESP32-C61 | ESP32-H2 | ESP32-H21 | ESP32-H4 | ESP32-P4 | ESP32-S31 |
+| ----------------- | -------- | -------- | --------- | -------- | --------- | -------- | -------- | --------- |
 
 # RISC-V Trace Basic Test App
 
diff --git a/components/soc/esp32h21/include/soc/Kconfig.soc_caps.in b/components/soc/esp32h21/include/soc/Kconfig.soc_caps.in
index da21f9c0f22..b798b9856d5 100644
--- a/components/soc/esp32h21/include/soc/Kconfig.soc_caps.in
+++ b/components/soc/esp32h21/include/soc/Kconfig.soc_caps.in
@@ -143,6 +143,10 @@ config SOC_BOD_SUPPORTED
     bool
     default y
 
+config SOC_RISCV_TRACE_SUPPORTED
+    bool
+    default y
+
 config SOC_PMU_SUPPORTED
     bool
     default y
@@ -1150,3 +1154,7 @@ config SOC_BLE_PERIODIC_ADV_WITH_RESPONSE
 config SOC_DEBUG_HAVE_OCD_STUB_BINS
     bool
     default y
+
+config SOC_RISCV_TRACE_PRIV_WIDTH
+    int
+    default 1
diff --git a/components/soc/esp32h21/include/soc/soc_caps.h b/components/soc/esp32h21/include/soc/soc_caps.h
index 5789cdc4d45..42ebbd065b5 100644
--- a/components/soc/esp32h21/include/soc/soc_caps.h
+++ b/components/soc/esp32h21/include/soc/soc_caps.h
@@ -61,6 +61,7 @@
 #define SOC_SECURE_BOOT_SUPPORTED       1
 #define SOC_BOD_SUPPORTED               1
 // #define SOC_APM_SUPPORTED               1    //TODO: [ESP32H21] IDF-11494
+#define SOC_RISCV_TRACE_SUPPORTED       1
 #define SOC_PMU_SUPPORTED               1
 #define SOC_RTC_TIMER_SUPPORTED         1
 #define SOC_LP_AON_SUPPORTED            1
@@ -498,3 +499,6 @@
 
 /*------------------------------------- DEBUG CAPS -------------------------------------*/
 #define SOC_DEBUG_HAVE_OCD_STUB_BINS    (1)
+
+/*-------------------------- RISC-V TRACE CAPS ------------------------------*/
+#define SOC_RISCV_TRACE_PRIV_WIDTH                  (1U) /*!< Bits in the privilege field (privilege_width_p) */