diff --git a/components/esp_driver_rmt/CMakeLists.txt b/components/esp_driver_rmt/CMakeLists.txt
index 44f229e6717..b37d08438f0 100644
--- a/components/esp_driver_rmt/CMakeLists.txt
+++ b/components/esp_driver_rmt/CMakeLists.txt
@@ -6,6 +6,7 @@ if(CONFIG_SOC_RMT_SUPPORTED)
     list(APPEND srcs "src/rmt_common.c"
                      "src/rmt_encoder.c"
                      "src/rmt_encoder_bytes.c"
+                     "src/rmt_encoder_bits.c"
                      "src/rmt_encoder_copy.c"
                      "src/rmt_encoder_simple.c"
                      "src/rmt_rx.c"
diff --git a/components/esp_driver_rmt/include/driver/rmt_encoder.h b/components/esp_driver_rmt/include/driver/rmt_encoder.h
index 69039eafb3e..762c5e1ce8b 100644
--- a/components/esp_driver_rmt/include/driver/rmt_encoder.h
+++ b/components/esp_driver_rmt/include/driver/rmt_encoder.h
@@ -44,7 +44,7 @@ struct rmt_encoder_t {
      * @param[in] encoder Encoder handle
      * @param[in] tx_channel RMT TX channel handle, returned from `rmt_new_tx_channel()`
      * @param[in] primary_data App data to be encoded into RMT symbols
-     * @param[in] data_size Size of primary_data, in bytes
+     * @param[in] data_size Size of primary_data, in bytes (especially for bits encoder, it is in bits)
      * @param[out] ret_state Returned current encoder's state
      * @return Number of RMT symbols that the primary data has been encoded into
      */
@@ -129,6 +129,17 @@ typedef struct {
     } flags;                   /*!< Encoder config flag */
 } rmt_bytes_encoder_config_t;
 
+/**
+ * @brief Bits encoder configuration
+ */
+typedef struct {
+    rmt_symbol_word_t bit0; /*!< How to represent BIT0 in RMT symbol */
+    rmt_symbol_word_t bit1; /*!< How to represent BIT1 in RMT symbol */
+    struct {
+        uint32_t msb_first: 1; /*!< Whether to encode MSB bit first */
+    } flags;                   /*!< Encoder config flag */
+} rmt_bits_encoder_config_t;
+
 /**
  * @brief Copy encoder configuration
  */
@@ -182,6 +193,38 @@ esp_err_t rmt_new_bytes_encoder(const rmt_bytes_encoder_config_t *config, rmt_en
  */
 esp_err_t rmt_bytes_encoder_update_config(rmt_encoder_handle_t bytes_encoder, const rmt_bytes_encoder_config_t *config);
 
+/**
+ * @brief Create RMT bits encoder, which can encode bit stream into RMT symbols
+ *
+ * @note The bits encoder is similar to bytes encoder, but it can handle arbitrary bit lengths,
+ *       not just multiples of 8 bits. The data_size parameter in (*encode)() represents
+ *       the number of bits to encode, not bytes.
+ *
+ * @param[in] config Bits encoder configuration
+ * @param[out] ret_encoder Returned encoder handle
+ * @return
+ *      - ESP_OK: Create RMT bits encoder successfully
+ *      - ESP_ERR_INVALID_ARG: Create RMT bits encoder failed because of invalid argument
+ *      - ESP_ERR_NO_MEM: Create RMT bits encoder failed because out of memory
+ *      - ESP_FAIL: Create RMT bits encoder failed because of other error
+ */
+esp_err_t rmt_new_bits_encoder(const rmt_bits_encoder_config_t *config, rmt_encoder_handle_t *ret_encoder);
+
+/**
+ * @brief Update the configuration of the bits encoder
+ *
+ * @note The configurations of the bits encoder is also set up by `rmt_new_bits_encoder()`.
+ *       This function is used to update the configuration of the bits encoder at runtime.
+ *
+ * @param[in] bits_encoder Bits encoder handle, created by e.g `rmt_new_bits_encoder()`
+ * @param[in] config Bits encoder configuration
+ * @return
+ *      - ESP_OK: Update RMT bits encoder successfully
+ *      - ESP_ERR_INVALID_ARG: Update RMT bits encoder failed because of invalid argument
+ *      - ESP_FAIL: Update RMT bits encoder failed because of other error
+ */
+esp_err_t rmt_bits_encoder_update_config(rmt_encoder_handle_t bits_encoder, const rmt_bits_encoder_config_t *config);
+
 /**
  * @brief Create RMT copy encoder, which copies the given RMT symbols into RMT memory
  *
diff --git a/components/esp_driver_rmt/include/driver/rmt_tx.h b/components/esp_driver_rmt/include/driver/rmt_tx.h
index b51a9f76e78..08024064835 100644
--- a/components/esp_driver_rmt/include/driver/rmt_tx.h
+++ b/components/esp_driver_rmt/include/driver/rmt_tx.h
@@ -96,7 +96,7 @@ esp_err_t rmt_new_tx_channel(const rmt_tx_channel_config_t *config, rmt_channel_
  * @param[in] tx_channel RMT TX channel that created by `rmt_new_tx_channel()`
  * @param[in] encoder RMT encoder that created by various factory APIs like `rmt_new_bytes_encoder()`
  * @param[in] payload The raw data to be encoded into RMT symbols
- * @param[in] payload_bytes Size of the `payload` in bytes
+ * @param[in] payload_size Size of the `payload` in bytes (specially for bits encoder, it is in bits)
  * @param[in] config Transmission specific configuration
  * @return
  *      - ESP_OK: Transmit data successfully
@@ -105,7 +105,7 @@ esp_err_t rmt_new_tx_channel(const rmt_tx_channel_config_t *config, rmt_channel_
  *      - ESP_ERR_NOT_SUPPORTED: Transmit data failed because some feature is not supported by hardware, e.g. unsupported loop count
  *      - ESP_FAIL: Transmit data failed because of other error
  */
-esp_err_t rmt_transmit(rmt_channel_handle_t tx_channel, rmt_encoder_handle_t encoder, const void *payload, size_t payload_bytes, const rmt_transmit_config_t *config);
+esp_err_t rmt_transmit(rmt_channel_handle_t tx_channel, rmt_encoder_handle_t encoder, const void *payload, size_t payload_size, const rmt_transmit_config_t *config);
 
 /**
  * @brief Wait for all pending TX transactions done
diff --git a/components/esp_driver_rmt/src/rmt_encoder_bits.c b/components/esp_driver_rmt/src/rmt_encoder_bits.c
new file mode 100644
index 00000000000..6534d6bf58a
--- /dev/null
+++ b/components/esp_driver_rmt/src/rmt_encoder_bits.c
@@ -0,0 +1,181 @@
+/*
+ * SPDX-FileCopyrightText: 2025 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include "driver/rmt_encoder.h"
+#include "rmt_private.h"
+
+typedef struct rmt_bits_encoder_t {
+    rmt_encoder_t base;     // encoder base class
+    size_t last_bit_index;  // index of the current bit position within the current byte (0-7)
+    size_t last_byte_index; // index of the current byte in the data stream
+    rmt_symbol_word_t bit0; // bit zero representing
+    rmt_symbol_word_t bit1; // bit one representing
+    struct {
+        uint32_t msb_first: 1; // encode MSB firstly
+    } flags;
+} rmt_bits_encoder_t;
+
+RMT_ENCODER_FUNC_ATTR
+static esp_err_t rmt_bits_encoder_reset(rmt_encoder_t *encoder)
+{
+    rmt_bits_encoder_t *bits_encoder = __containerof(encoder, rmt_bits_encoder_t, base);
+    // reset index to zero
+    bits_encoder->last_bit_index = 0;
+    bits_encoder->last_byte_index = 0;
+    return ESP_OK;
+}
+
+RMT_ENCODER_FUNC_ATTR
+static size_t rmt_encode_bits(rmt_encoder_t *encoder, rmt_channel_handle_t channel,
+                              const void *primary_data, size_t data_size, rmt_encode_state_t *ret_state)
+{
+    rmt_bits_encoder_t *bits_encoder = __containerof(encoder, rmt_bits_encoder_t, base);
+    rmt_tx_channel_t *tx_chan = __containerof(channel, rmt_tx_channel_t, base);
+    const uint8_t *raw_data = (const uint8_t *)primary_data;
+    rmt_encode_state_t state = RMT_ENCODING_RESET;
+
+    size_t byte_index = bits_encoder->last_byte_index;
+    size_t bit_index = bits_encoder->last_bit_index;
+    // calculate total bit position for remaining bits calculation
+    size_t total_bit_pos = byte_index * 8 + bit_index;
+    // how many symbols will be generated by the encoder (data_size is in bits)
+    size_t mem_want = data_size - total_bit_pos;
+    // how many symbols we can save for this round
+    size_t symbol_off = tx_chan->mem_off_bytes / sizeof(rmt_symbol_word_t);
+    size_t mem_have = tx_chan->mem_end - symbol_off;
+    // where to put the encoded symbols? DMA buffer or RMT HW memory
+    rmt_symbol_word_t *mem_to_nc = NULL;
+    if (channel->dma_chan) {
+        mem_to_nc = tx_chan->dma_mem_base_nc;
+    } else {
+        mem_to_nc = channel->hw_mem_base;
+    }
+    // how many symbols will be encoded in this round
+    size_t encode_len = MIN(mem_want, mem_have);
+    bool encoding_truncated = mem_have < mem_want;
+    bool encoding_space_free = mem_have > mem_want;
+
+#if SOC_RMT_SUPPORT_DMA
+    uint8_t dma_lli0_index = 0;
+    uint8_t dma_lli1_index = 0;
+    if (channel->dma_chan) {
+        // mark the start descriptor
+        if (symbol_off < tx_chan->ping_pong_symbols) {
+            dma_lli0_index = 0;
+        } else {
+            dma_lli0_index = 1;
+        }
+    }
+#endif // SOC_RMT_SUPPORT_DMA
+
+    size_t len = encode_len;
+    while (len > 0) {
+        // start from last time truncated encoding
+        uint8_t cur_byte = raw_data[byte_index];
+        // bit-wise reverse
+        if (bits_encoder->flags.msb_first) {
+            cur_byte = hal_utils_bitwise_reverse8(cur_byte);
+        }
+        while ((len > 0) && (bit_index < 8)) {
+            if (cur_byte & (1 << bit_index)) {
+                mem_to_nc[symbol_off++] = bits_encoder->bit1;
+            } else {
+                mem_to_nc[symbol_off++] = bits_encoder->bit0;
+            }
+            len--;
+            bit_index++;
+        }
+        if (bit_index >= 8) {
+            byte_index++;
+            bit_index = 0;
+        }
+    }
+
+#if SOC_RMT_SUPPORT_DMA
+    if (channel->dma_chan) {
+        // mark the end descriptor
+        if (symbol_off < tx_chan->ping_pong_symbols) {
+            dma_lli1_index = 0;
+        } else {
+            dma_lli1_index = 1;
+        }
+
+        // cross line, means desc0 has prepared with sufficient data buffer
+        if (dma_lli0_index != dma_lli1_index) {
+            gdma_link_set_owner(tx_chan->dma_link, dma_lli0_index, GDMA_LLI_OWNER_DMA);
+            gdma_link_set_length(tx_chan->dma_link, dma_lli0_index, tx_chan->ping_pong_symbols * sizeof(rmt_symbol_word_t));
+        }
+    }
+#endif // SOC_RMT_SUPPORT_DMA
+
+    if (encoding_truncated) {
+        // this encoding has not finished yet, save the truncated position
+        bits_encoder->last_bit_index = bit_index;
+        bits_encoder->last_byte_index = byte_index;
+    } else {
+        // reset internal index if encoding session has finished
+        bits_encoder->last_bit_index = 0;
+        bits_encoder->last_byte_index = 0;
+        state |= RMT_ENCODING_COMPLETE;
+    }
+
+    if (!encoding_space_free) {
+        // no more free memory, the caller should yield
+        state |= RMT_ENCODING_MEM_FULL;
+    }
+
+    // reset offset pointer when exceeds maximum range
+    if (symbol_off >= tx_chan->ping_pong_symbols * 2) {
+#if SOC_RMT_SUPPORT_DMA
+        if (channel->dma_chan) {
+            gdma_link_set_owner(tx_chan->dma_link, dma_lli1_index, GDMA_LLI_OWNER_DMA);
+            gdma_link_set_length(tx_chan->dma_link, dma_lli1_index, tx_chan->ping_pong_symbols * sizeof(rmt_symbol_word_t));
+        }
+#endif // SOC_RMT_SUPPORT_DMA
+        tx_chan->mem_off_bytes = 0;
+    } else {
+        tx_chan->mem_off_bytes = symbol_off * sizeof(rmt_symbol_word_t);
+    }
+
+    *ret_state = state;
+    return encode_len;
+}
+
+static esp_err_t rmt_del_bits_encoder(rmt_encoder_t *encoder)
+{
+    rmt_bits_encoder_t *bits_encoder = __containerof(encoder, rmt_bits_encoder_t, base);
+    free(bits_encoder);
+    return ESP_OK;
+}
+
+esp_err_t rmt_new_bits_encoder(const rmt_bits_encoder_config_t *config, rmt_encoder_handle_t *ret_encoder)
+{
+    esp_err_t ret = ESP_OK;
+    ESP_GOTO_ON_FALSE(config && ret_encoder, ESP_ERR_INVALID_ARG, err, TAG, "invalid argument");
+    rmt_bits_encoder_t *encoder = rmt_alloc_encoder_mem(sizeof(rmt_bits_encoder_t));
+    ESP_GOTO_ON_FALSE(encoder, ESP_ERR_NO_MEM, err, TAG, "no mem for bits encoder");
+    encoder->base.encode = rmt_encode_bits;
+    encoder->base.del = rmt_del_bits_encoder;
+    encoder->base.reset = rmt_bits_encoder_reset;
+    encoder->bit0 = config->bit0;
+    encoder->bit1 = config->bit1;
+    encoder->flags.msb_first = config->flags.msb_first;
+    // return general encoder handle
+    *ret_encoder = &encoder->base;
+    ESP_LOGD(TAG, "new bits encoder @%p", encoder);
+err:
+    return ret;
+}
+
+esp_err_t rmt_bits_encoder_update_config(rmt_encoder_handle_t bits_encoder, const rmt_bits_encoder_config_t *config)
+{
+    ESP_RETURN_ON_FALSE(bits_encoder && config, ESP_ERR_INVALID_ARG, TAG, "invalid argument");
+    rmt_bits_encoder_t *encoder = __containerof(bits_encoder, rmt_bits_encoder_t, base);
+    encoder->bit0 = config->bit0;
+    encoder->bit1 = config->bit1;
+    encoder->flags.msb_first = config->flags.msb_first;
+    return ESP_OK;
+}
diff --git a/components/esp_driver_rmt/src/rmt_private.h b/components/esp_driver_rmt/src/rmt_private.h
index 1332d5aebcf..e5462defc0c 100644
--- a/components/esp_driver_rmt/src/rmt_private.h
+++ b/components/esp_driver_rmt/src/rmt_private.h
@@ -181,7 +181,7 @@ struct rmt_channel_t {
 typedef struct {
     rmt_encoder_handle_t encoder;  // encode user payload into RMT symbols
     const void *payload;           // encoder payload
-    size_t payload_bytes;          // payload size
+    size_t payload_size;           // payload size, in bytes (specially for bits encoder, it is in bits)
     int loop_count;                // transaction can be continued in a loop for specific times
     int remain_loop_count;         // user required loop count may exceed hardware limitation, the driver will transfer them in batches
     size_t transmitted_symbol_num; // track the number of transmitted symbols
diff --git a/components/esp_driver_rmt/src/rmt_tx.c b/components/esp_driver_rmt/src/rmt_tx.c
index 37bccd0ce6c..9736d3ecaa9 100644
--- a/components/esp_driver_rmt/src/rmt_tx.c
+++ b/components/esp_driver_rmt/src/rmt_tx.c
@@ -517,9 +517,9 @@ esp_err_t rmt_tx_register_event_callbacks(rmt_channel_handle_t channel, const rm
     return ESP_OK;
 }
 
-esp_err_t rmt_transmit(rmt_channel_handle_t channel, rmt_encoder_t *encoder, const void *payload, size_t payload_bytes, const rmt_transmit_config_t *config)
+esp_err_t rmt_transmit(rmt_channel_handle_t channel, rmt_encoder_t *encoder, const void *payload, size_t payload_size, const rmt_transmit_config_t *config)
 {
-    ESP_RETURN_ON_FALSE(channel && encoder && payload && payload_bytes && config, ESP_ERR_INVALID_ARG, TAG, "invalid argument");
+    ESP_RETURN_ON_FALSE(channel && encoder && payload && payload_size && config, ESP_ERR_INVALID_ARG, TAG, "invalid argument");
     ESP_RETURN_ON_FALSE(channel->direction == RMT_CHANNEL_DIRECTION_TX, ESP_ERR_INVALID_ARG, TAG, "invalid channel direction");
 #if !SOC_RMT_SUPPORT_TX_LOOP_COUNT
     ESP_RETURN_ON_FALSE(config->loop_count <= 1, ESP_ERR_NOT_SUPPORTED, TAG, "loop count is not supported");
@@ -546,7 +546,7 @@ esp_err_t rmt_transmit(rmt_channel_handle_t channel, rmt_encoder_t *encoder, con
     memset(t, 0, sizeof(rmt_tx_trans_desc_t));
     t->encoder = encoder;
     t->payload = payload;
-    t->payload_bytes = payload_bytes;
+    t->payload_size = payload_size;
     // treat loop_count == 1 as no loop
     t->loop_count = config->loop_count == 1 ? 0 : config->loop_count;
     t->remain_loop_count = t->loop_count;
@@ -649,7 +649,7 @@ size_t rmt_encode_check_result(rmt_tx_channel_t *tx_chan, rmt_tx_trans_desc_t *t
 {
     rmt_encode_state_t encode_state = RMT_ENCODING_RESET;
     rmt_encoder_handle_t encoder = t->encoder;
-    size_t encoded_symbols = encoder->encode(encoder, &tx_chan->base, t->payload, t->payload_bytes, &encode_state);
+    size_t encoded_symbols = encoder->encode(encoder, &tx_chan->base, t->payload, t->payload_size, &encode_state);
     bool is_mem_full = encode_state & RMT_ENCODING_MEM_FULL;
     bool need_eof_mark = (encode_state & RMT_ENCODING_WITH_EOF) == 0;
 
diff --git a/components/esp_driver_rmt/test_apps/rmt/main/test_rmt_tx.c b/components/esp_driver_rmt/test_apps/rmt/main/test_rmt_tx.c
index df2b94e2b5f..2a8de2ee737 100644
--- a/components/esp_driver_rmt/test_apps/rmt/main/test_rmt_tx.c
+++ b/components/esp_driver_rmt/test_apps/rmt/main/test_rmt_tx.c
@@ -114,6 +114,81 @@ TEST_CASE("rmt bytes encoder", "[rmt]")
     TEST_ESP_OK(rmt_del_encoder(bytes_encoder));
 }
 
+TEST_CASE("rmt bits encoder", "[rmt]")
+{
+    rmt_tx_channel_config_t tx_channel_cfg = {
+        .clk_src = RMT_CLK_SRC_DEFAULT,
+        .resolution_hz = 1000000, // 1MHz resolution
+        .mem_block_symbols = SOC_RMT_MEM_WORDS_PER_CHANNEL,
+        .trans_queue_depth = 4,
+        .gpio_num = TEST_RMT_GPIO_NUM_B,
+    };
+    rmt_channel_handle_t tx_channel = NULL;
+    TEST_ESP_OK(rmt_new_tx_channel(&tx_channel_cfg, &tx_channel));
+    TEST_ESP_OK(rmt_enable(tx_channel));
+
+    printf("install bits encoder\r\n");
+    rmt_encoder_handle_t bits_encoder = NULL;
+    rmt_bits_encoder_config_t bits_enc_config = {
+        .bit0 = {
+            .level0 = 1,
+            .duration0 = 3, // T0H=3us
+            .level1 = 0,
+            .duration1 = 9, // T0L=9us
+        },
+        .bit1 = {
+            .level0 = 1,
+            .duration0 = 9, // T1H=9us
+            .level1 = 0,
+            .duration1 = 3, // T1L=3us
+        },
+        .flags.msb_first = 1,
+    };
+    TEST_ESP_OK(rmt_new_bits_encoder(&bits_enc_config, &bits_encoder));
+
+    uint8_t test_data[] = {0xAB, 0xDA}; // 10101011, 11011010
+    size_t num_bits1 = 8;
+    size_t num_bits2 = 5;
+    size_t num_bits3 = 13;
+
+    rmt_transmit_config_t transmit_config = {
+        .loop_count = 0, // no loop
+    };
+
+    printf("transmit bits pattern with MSB first(%zu bits)\r\n", num_bits1);
+    TEST_ESP_OK(rmt_transmit(tx_channel, bits_encoder, test_data, num_bits1, &transmit_config));
+    TEST_ESP_OK(rmt_tx_wait_all_done(tx_channel, -1));
+
+    printf("transmit bits pattern with MSB first(%zu bits)\r\n", num_bits2);
+    TEST_ESP_OK(rmt_transmit(tx_channel, bits_encoder, test_data, num_bits2, &transmit_config));
+    TEST_ESP_OK(rmt_tx_wait_all_done(tx_channel, -1));
+
+    printf("transmit bits pattern with MSB first(%zu bits)\r\n", num_bits3);
+    TEST_ESP_OK(rmt_transmit(tx_channel, bits_encoder, test_data, num_bits3, &transmit_config));
+    TEST_ESP_OK(rmt_tx_wait_all_done(tx_channel, -1));
+
+    // change to LSB first
+    printf("update bits encoder configuration to LSB first\r\n");
+    bits_enc_config.flags.msb_first = 0;
+    TEST_ESP_OK(rmt_bits_encoder_update_config(bits_encoder, &bits_enc_config));
+
+    printf("transmit bits pattern with LSB first(%zu bits)\r\n", num_bits1);
+    TEST_ESP_OK(rmt_transmit(tx_channel, bits_encoder, test_data, num_bits1, &transmit_config));
+    TEST_ESP_OK(rmt_tx_wait_all_done(tx_channel, -1));
+
+    printf("transmit bits pattern with LSB first(%zu bits)\r\n", num_bits2);
+    TEST_ESP_OK(rmt_transmit(tx_channel, bits_encoder, test_data, num_bits2, &transmit_config));
+    TEST_ESP_OK(rmt_tx_wait_all_done(tx_channel, -1));
+
+    printf("transmit bits pattern with LSB first(%zu bits)\r\n", num_bits3);
+    TEST_ESP_OK(rmt_transmit(tx_channel, bits_encoder, test_data, num_bits3, &transmit_config));
+    TEST_ESP_OK(rmt_tx_wait_all_done(tx_channel, -1));
+
+    TEST_ESP_OK(rmt_del_encoder(bits_encoder));
+    TEST_ESP_OK(rmt_disable(tx_channel));
+    TEST_ESP_OK(rmt_del_channel(tx_channel));
+}
+
 static void test_rmt_channel_single_trans(size_t mem_block_symbols, bool with_dma)
 {
     rmt_tx_channel_config_t tx_channel_cfg = {