diff --git a/components/esp-tls/Kconfig b/components/esp-tls/Kconfig
index 185c158e6c8..dc28a98a04d 100644
--- a/components/esp-tls/Kconfig
+++ b/components/esp-tls/Kconfig
@@ -22,6 +22,15 @@ menu "ESP-TLS"
                 esp_tls_stack_ops_t interface.
     endchoice
 
+    config ESP_TLS_ENABLE_TCP_NODELAY
+        bool "Enable TCP_NODELAY (disable Nagle's algorithm) on ESP-TLS sockets"
+        default n
+        help
+            Set TCP_NODELAY on every ESP-TLS client connection socket, disabling Nagle's algorithm.
+            Recommended for latency-sensitive small-message traffic (e.g. MQTT), where Nagle
+            interacting with the peer's delayed-ACK can stall a small write by ~40-200 ms until
+            the delayed-ACK timer fires. Off by default (no behavior change).
+
     config ESP_TLS_USE_DS_PERIPHERAL
         bool "Use Digital Signature (DS) Peripheral with ESP-TLS"
         depends on ESP_TLS_USING_MBEDTLS && SOC_DIG_SIGN_SUPPORTED
diff --git a/components/esp-tls/esp_tls.c b/components/esp-tls/esp_tls.c
index dc453f69204..40d433a8671 100644
--- a/components/esp-tls/esp_tls.c
+++ b/components/esp-tls/esp_tls.c
@@ -317,6 +317,16 @@ static esp_err_t esp_tls_set_socket_options(int fd, const esp_tls_cfg_t *cfg)
             return ESP_ERR_ESP_TLS_SOCKET_SETOPT_FAILED;
         }
 
+#if CONFIG_ESP_TLS_ENABLE_TCP_NODELAY
+        /* Disable Nagle's algorithm. Small control-plane writes (e.g. MQTT PUBLISH/PUBACK/PINGREQ)
+         * otherwise interact with the peer's delayed-ACK and stall ~40-200 ms until its timer fires.
+         * Non-fatal: a latency hint, not required for a correct connection (unlike the timeouts). */
+        int nodelay = 1;
+        if (setsockopt(fd, IPPROTO_TCP, TCP_NODELAY, &nodelay, sizeof(nodelay)) != 0) {
+            ESP_LOGW(TAG, "Fail to setsockopt TCP_NODELAY (non-fatal)");
+        }
+#endif
+
         if (cfg->keep_alive_cfg && cfg->keep_alive_cfg->keep_alive_enable) {
             int keep_alive_enable = 1;
             int keep_alive_idle = cfg->keep_alive_cfg->keep_alive_idle;