diff --git a/components/esp_driver_cam/csi/src/esp_cam_ctlr_csi.c b/components/esp_driver_cam/csi/src/esp_cam_ctlr_csi.c
index 63b170b668d..420c6029234 100644
--- a/components/esp_driver_cam/csi/src/esp_cam_ctlr_csi.c
+++ b/components/esp_driver_cam/csi/src/esp_cam_ctlr_csi.c
@@ -20,6 +20,8 @@
 #include "esp_cam_ctlr_csi_internal.h"
 #include "hal/mipi_csi_ll.h"
 #include "hal/color_hal.h"
+#include "hal/efuse_hal.h"
+#include "soc/chip_revision.h"
 #include "esp_private/periph_ctrl.h"
 #include "esp_private/mipi_csi_share_hw_ctrl.h"
 #include "esp_private/esp_cache_private.h"
@@ -53,6 +55,7 @@ static esp_err_t s_csi_ctlr_disable(esp_cam_ctlr_handle_t ctlr);
 static esp_err_t s_ctlr_csi_receive(esp_cam_ctlr_handle_t handle, esp_cam_ctlr_trans_t *trans, uint32_t timeout_ms);
 static void *s_csi_ctlr_alloc_buffer(esp_cam_ctlr_t *handle, size_t size, uint32_t buf_caps);
 static esp_err_t s_csi_ctlr_format_conversion(esp_cam_ctlr_t *handle, const cam_ctlr_format_conv_config_t *config);
+static bool s_is_color_format_conversion_supported(cam_ctlr_color_t color_format);
 
 static esp_err_t s_csi_claim_controller(csi_controller_t *controller)
 {
@@ -216,6 +219,12 @@ esp_err_t esp_cam_new_csi_ctlr(const esp_cam_ctlr_csi_config_t *config, esp_cam_
     ESP_GOTO_ON_ERROR(esp_pm_lock_create(ESP_PM_APB_FREQ_MAX, 0, "cam_csi_ctlr", &ctlr->pm_lock), err, TAG, "failed to create pm lock");
 #endif //CONFIG_PM_ENABLE
 
+    cam_ctlr_format_conv_config_t format_conv_config = {
+        .src_format = config->input_data_color_type,
+        .dst_format = config->output_data_color_type,
+    };
+    ESP_GOTO_ON_ERROR(s_csi_ctlr_format_conversion(&(ctlr->base), &format_conv_config), err, TAG, "failed to configure format conversion");
+
     ctlr->spinlock = (portMUX_TYPE)portMUX_INITIALIZER_UNLOCKED;
     ctlr->csi_fsm = CSI_FSM_INIT;
     ctlr->base.del = s_ctlr_del;
@@ -571,9 +580,44 @@ static void *s_csi_ctlr_alloc_buffer(esp_cam_ctlr_t *handle, size_t size, uint32
     return buffer;
 }
 
+static bool s_is_color_format_conversion_supported(cam_ctlr_color_t color_format)
+{
+    return (color_format == CAM_CTLR_COLOR_RGB888 ||
+            color_format == CAM_CTLR_COLOR_RGB565 ||
+            color_format == CAM_CTLR_COLOR_YUV420 ||
+            color_format == CAM_CTLR_COLOR_YUV422_YVYU ||
+            color_format == CAM_CTLR_COLOR_YUV422_YUYV ||
+            color_format == CAM_CTLR_COLOR_YUV422_UYVY ||
+            color_format == CAM_CTLR_COLOR_YUV422_VYUY);
+}
+
 static esp_err_t s_csi_ctlr_format_conversion(esp_cam_ctlr_t *handle, const cam_ctlr_format_conv_config_t *config)
 {
-    ESP_RETURN_ON_FALSE(handle, ESP_ERR_INVALID_ARG, TAG, "invalid argument: null pointer");
-    // CSI controller doesn't support format conversion yet
-    return ESP_ERR_NOT_SUPPORTED;
+    ESP_RETURN_ON_FALSE(handle && config, ESP_ERR_INVALID_ARG, TAG, "invalid argument: null pointer");
+    csi_controller_t *ctlr = __containerof(handle, csi_controller_t, base);
+
+    if (config->src_format == config->dst_format) {
+        mipi_csi_brg_ll_set_color_mode_bypass(ctlr->hal.bridge_dev, true);
+        return ESP_OK;
+    } else {
+#if CONFIG_IDF_TARGET_ESP32P4
+        //If ESP32P4 chip version is less than v3.0, not support color format conversion
+        unsigned chip_version = efuse_hal_chip_revision();
+        if (!ESP_CHIP_REV_ABOVE(chip_version, 300)) {
+            return ESP_ERR_NOT_SUPPORTED;
+        }
+#endif
+
+        if (!s_is_color_format_conversion_supported(config->src_format) || !s_is_color_format_conversion_supported(config->dst_format)) {
+            return ESP_ERR_NOT_SUPPORTED;
+        } else {
+            mipi_csi_brg_ll_set_input_color_format(ctlr->hal.bridge_dev, config->src_format);
+            mipi_csi_brg_ll_set_output_color_format(ctlr->hal.bridge_dev, config->dst_format);
+            mipi_csi_brg_ll_set_color_mode_bypass(ctlr->hal.bridge_dev, false);
+            mipi_csi_brg_ll_enable_color_conversion(ctlr->hal.bridge_dev, true);
+        }
+        ctlr->in_color_format = config->src_format;
+        ctlr->out_color_format = config->dst_format;
+        return ESP_OK;
+    }
 }
diff --git a/components/esp_driver_cam/test_apps/csi/main/test_csi_driver.c b/components/esp_driver_cam/test_apps/csi/main/test_csi_driver.c
index 28a995d1b1f..b671037ce7d 100644
--- a/components/esp_driver_cam/test_apps/csi/main/test_csi_driver.c
+++ b/components/esp_driver_cam/test_apps/csi/main/test_csi_driver.c
@@ -16,7 +16,7 @@ TEST_CASE("TEST CSI driver allocation", "[csi]")
         .h_res = 800,
         .v_res = 640,
         .lane_bit_rate_mbps = 200,
-        .input_data_color_type = CAM_CTLR_COLOR_RAW8,
+        .input_data_color_type = CAM_CTLR_COLOR_RGB565,
         .output_data_color_type = CAM_CTLR_COLOR_RGB565,
         .data_lane_num = 2,
         .byte_swap_en = false,
@@ -42,7 +42,7 @@ TEST_CASE("TEST CSI driver no backup buffer usage", "[csi]")
         .h_res = 800,
         .v_res = 640,
         .lane_bit_rate_mbps = 200,
-        .input_data_color_type = CAM_CTLR_COLOR_RAW8,
+        .input_data_color_type = CAM_CTLR_COLOR_RGB565,
         .output_data_color_type = CAM_CTLR_COLOR_RGB565,
         .data_lane_num = 2,
         .byte_swap_en = false,
diff --git a/components/esp_driver_cam/test_apps/csi/main/test_csi_ov5647.c b/components/esp_driver_cam/test_apps/csi/main/test_csi_ov5647.c
index 23ef8ce6fc1..b2e6027ba40 100644
--- a/components/esp_driver_cam/test_apps/csi/main/test_csi_ov5647.c
+++ b/components/esp_driver_cam/test_apps/csi/main/test_csi_ov5647.c
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2025 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2025-2026 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -97,7 +97,7 @@ TEST_CASE("TEST esp_cam on ov5647", "[csi][camera][ov5647]")
         .v_res                  = TEST_MIPI_CSI_DISP_VRES,
         .lane_bit_rate_mbps     = TEST_MIPI_CSI_LANE_BITRATE_MBPS,
         .input_data_color_type  = CAM_CTLR_COLOR_RAW8,
-        .output_data_color_type = CAM_CTLR_COLOR_RGB565,
+        .output_data_color_type = CAM_CTLR_COLOR_RAW8,
         .data_lane_num          = 2,
         .byte_swap_en           = false,
         .queue_items            = 1,
diff --git a/components/esp_hal_cam/esp32p4/include/hal/mipi_csi_ll.h b/components/esp_hal_cam/esp32p4/include/hal/mipi_csi_ll.h
index a491767f2e2..6d3612023a5 100644
--- a/components/esp_hal_cam/esp32p4/include/hal/mipi_csi_ll.h
+++ b/components/esp_hal_cam/esp32p4/include/hal/mipi_csi_ll.h
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2024-2025 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2024-2026 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -14,6 +14,7 @@
 #include "hal/mipi_csi_brg_ll.h"
 #include "hal/mipi_csi_phy_ll.h"
 #include "hal/mipi_csi_host_ll.h"
+#include "hal/config.h"
 #include "soc/hp_sys_clkrst_struct.h"
 
 #ifdef __cplusplus
@@ -155,6 +156,141 @@ static inline void mipi_csi_ll_reset_host_clock(int group_id)
         mipi_csi_ll_reset_host_clock(__VA_ARGS__); \
     } while(0)
 
+#if HAL_CONFIG(CHIP_SUPPORT_MIN_REV) >= 300
+
+/**
+ * @brief Set RGB element order for input color data
+ *
+ * @param dev Pointer to the CSI bridge controller register base address
+ * @param rgb_format RGB element order: 0=RGB, 1=BGR, 2=RBG, 3=BRG, 4=GRB, 5=GBR
+ *
+ */
+static inline void mipi_csi_brg_ll_set_input_rgb_format(csi_brg_dev_t *dev, uint32_t rgb_format)
+{
+    dev->host_cm_ctrl.csi_host_cm_rx_rgb_format = rgb_format;
+}
+
+/**
+ * @brief Set the color format for the input color data
+ *
+ * @param dev Pointer to the CSI bridge controller register base address
+ * @param color_format Camera controller color format
+ */
+static inline void mipi_csi_brg_ll_set_input_color_format(csi_brg_dev_t *dev, cam_ctlr_color_t color_format)
+{
+    // Set format type
+    if (color_format == CAM_CTLR_COLOR_RGB888) {
+        dev->host_cm_ctrl.csi_host_cm_rx = 0;
+        mipi_csi_brg_ll_set_input_rgb_format(dev, 0);  // Default: RGB order
+    } else if (color_format == CAM_CTLR_COLOR_RGB565) {
+        dev->host_cm_ctrl.csi_host_cm_rx = 1;
+        mipi_csi_brg_ll_set_input_rgb_format(dev, 0);  // Default: RGB order
+    } else if (color_format == CAM_CTLR_COLOR_YUV420) {
+        dev->host_cm_ctrl.csi_host_cm_rx = 3;
+    } else if (color_format == CAM_CTLR_COLOR_YUV422_YVYU ||
+               color_format == CAM_CTLR_COLOR_YUV422_YUYV ||
+               color_format == CAM_CTLR_COLOR_YUV422_UYVY ||
+               color_format == CAM_CTLR_COLOR_YUV422_VYUY) {
+        dev->host_cm_ctrl.csi_host_cm_rx = 2;
+        // Set YUV422 packing order: YVYU=0, YUYV=1, VYUY=2, UYVY=3
+        if (color_format == CAM_CTLR_COLOR_YUV422_YVYU) {
+            dev->host_cm_ctrl.csi_host_cm_rx_yuv422_format = 0;
+        } else if (color_format == CAM_CTLR_COLOR_YUV422_YUYV) {
+            dev->host_cm_ctrl.csi_host_cm_rx_yuv422_format = 1;
+        } else if (color_format == CAM_CTLR_COLOR_YUV422_VYUY) {
+            dev->host_cm_ctrl.csi_host_cm_rx_yuv422_format = 2;
+        } else if (color_format == CAM_CTLR_COLOR_YUV422_UYVY) {
+            dev->host_cm_ctrl.csi_host_cm_rx_yuv422_format = 3;
+        }
+    } else {
+        HAL_ASSERT(false && "Unsupported input color format");
+    }
+}
+
+/**
+ * @brief Enable or disable color mode conversion output
+ *
+ * @param dev Pointer to the CSI bridge controller register base address
+ * @param en true to enable, false to disable
+ *
+ */
+static inline void mipi_csi_brg_ll_enable_color_conversion(csi_brg_dev_t *dev, bool en)
+{
+    dev->host_cm_ctrl.csi_host_cm_en = en;
+}
+
+/**
+ * @brief Enable or disable color mode conversion bypass
+ *
+ * @param dev Pointer to the CSI bridge controller regihost_cm_ctrlster base address
+ * @param bypass true to bypass (input directly to output), false to enable conversion
+ *
+ */
+static inline void mipi_csi_brg_ll_set_color_mode_bypass(csi_brg_dev_t *dev, bool bypass)
+{
+    dev->host_cm_ctrl.csi_host_cm_bypass = bypass;
+}
+
+/**
+ * @brief Set the color format for the output color data
+ *
+ * @param dev Pointer to the CSI bridge controller register base address
+ * @param color_format Camera controller color format
+ */
+static inline void mipi_csi_brg_ll_set_output_color_format(csi_brg_dev_t *dev, cam_ctlr_color_t color_format)
+{
+    if (color_format == CAM_CTLR_COLOR_RGB888) {
+        dev->host_cm_ctrl.csi_host_cm_tx = 0;
+    } else if (color_format == CAM_CTLR_COLOR_RGB565) {
+        dev->host_cm_ctrl.csi_host_cm_tx = 1;
+    } else if (color_format == CAM_CTLR_COLOR_YUV420) {
+        dev->host_cm_ctrl.csi_host_cm_tx = 3;
+    } else if (color_format == CAM_CTLR_COLOR_YUV422_YVYU ||
+               color_format == CAM_CTLR_COLOR_YUV422_YUYV ||
+               color_format == CAM_CTLR_COLOR_YUV422_UYVY ||
+               color_format == CAM_CTLR_COLOR_YUV422_VYUY) {
+        dev->host_cm_ctrl.csi_host_cm_tx = 2;
+    } else {
+        HAL_ASSERT(false && "Unsupported output color format");
+    }
+}
+#else
+static inline void mipi_csi_brg_ll_set_input_rgb_format(csi_brg_dev_t *dev, uint32_t rgb_format)
+{
+    //for compatibility
+    (void)dev;
+    (void)rgb_format;
+}
+
+static inline void mipi_csi_brg_ll_set_input_color_format(csi_brg_dev_t *dev, cam_ctlr_color_t color_format)
+{
+    //for compatibility
+    (void)dev;
+    (void)color_format;
+}
+
+static inline void mipi_csi_brg_ll_enable_color_conversion(csi_brg_dev_t *dev, bool en)
+{
+    //for compatibility
+    (void)dev;
+    (void)en;
+}
+
+static inline void mipi_csi_brg_ll_set_color_mode_bypass(csi_brg_dev_t *dev, bool bypass)
+{
+    //for compatibility
+    (void)dev;
+    (void)bypass;
+}
+
+static inline void mipi_csi_brg_ll_set_output_color_format(csi_brg_dev_t *dev, cam_ctlr_color_t color_format)
+{
+    //for compatibility
+    (void)dev;
+    (void)color_format;
+}
+#endif // HAL_CONFIG(CHIP_SUPPORT_MIN_REV) >= 300
+
 #ifdef __cplusplus
 }
 #endif