diff --git a/components/esp_hal_pmu/include/hal/pmu_types.h b/components/esp_hal_pmu/include/hal/pmu_types.h
index 77767dd8f54..8b8ace4e051 100644
--- a/components/esp_hal_pmu/include/hal/pmu_types.h
+++ b/components/esp_hal_pmu/include/hal/pmu_types.h
@@ -7,6 +7,7 @@
 #pragma once
 
 #include <stdint.h>
+#include "soc/soc.h"
 #include "soc/soc_caps.h"
 #include "hal/config.h"
 
@@ -24,6 +25,17 @@ typedef enum {
     PMU_MODE_HP_MAX,
 } pmu_hp_mode_t;
 
+/**
+ * @brief PMU ICG modem code of HP system
+ *
+ * Each code maps to one bit in modem_lpcon `clk_*_st_map` bitmap fields.
+ */
+typedef enum {
+    PMU_HP_ICG_MODEM_CODE_SLEEP = 0,  /*!< ICG bitmap bit for HP_SLEEP mode */
+    PMU_HP_ICG_MODEM_CODE_MODEM = 1,  /*!< ICG bitmap bit for HP_MODEM mode */
+    PMU_HP_ICG_MODEM_CODE_ACTIVE = 2, /*!< ICG bitmap bit for HP_ACTIVE mode */
+} pmu_hp_icg_modem_mode_t;
+
 /**
  * @brief PMU modes of LP system
  */
diff --git a/components/esp_hal_regi2c/esp32h4/include/hal/regi2c_ctrl_ll.h b/components/esp_hal_regi2c/esp32h4/include/hal/regi2c_ctrl_ll.h
index ff476dabb4b..d0941de6d81 100644
--- a/components/esp_hal_regi2c/esp32h4/include/hal/regi2c_ctrl_ll.h
+++ b/components/esp_hal_regi2c/esp32h4/include/hal/regi2c_ctrl_ll.h
@@ -12,6 +12,10 @@
 #include "soc/pmu_reg.h"
 #include "modem/modem_lpcon_struct.h"
 #include "modem/modem_syscon_struct.h"
+#include "hal/modem_lpcon_ll.h"
+#if SOC_PM_SUPPORT_MODEM_CLOCK_DOMAIN_ICG
+#include "hal/pmu_types.h"
+#endif
 
 #ifdef __cplusplus
 extern "C" {
@@ -24,6 +28,10 @@ extern "C" {
  */
 static inline __attribute__((always_inline)) void _regi2c_ctrl_ll_master_enable_clock(bool en)
 {
+    /* In ESP32H4, modem_lpcon_reg will lose power after sleep with top pd, so we need to set i2c master and lp_apb clock active and modem st map */
+    const uint32_t icg_bitmap = BIT(PMU_HP_ICG_MODEM_CODE_ACTIVE) | BIT(PMU_HP_ICG_MODEM_CODE_MODEM);
+    modem_lpcon_ll_set_i2c_master_icg_bitmap(&MODEM_LPCON, icg_bitmap);
+    modem_lpcon_ll_set_lp_apb_icg_bitmap(&MODEM_LPCON, icg_bitmap);
     MODEM_LPCON.clk_conf.clk_i2c_mst_en = en;
 }
 
diff --git a/components/esp_hw_support/include/esp_private/esp_pmu.h b/components/esp_hw_support/include/esp_private/esp_pmu.h
index 2846bc34390..928f1a4ea90 100644
--- a/components/esp_hw_support/include/esp_private/esp_pmu.h
+++ b/components/esp_hw_support/include/esp_private/esp_pmu.h
@@ -13,6 +13,7 @@
 
 #include "soc/soc_caps.h"
 #include "soc/clk_tree_defs.h"
+#include "hal/pmu_types.h"
 
 #if SOC_PMU_SUPPORTED
 #include "hal/pmu_hal.h"
@@ -24,16 +25,6 @@
 extern "C" {
 #endif
 
-/**
- * @brief PMU ICG modem code of HP system
- * @note  This type is required in rtc_clk_init.c when PMU not fully supported
- */
-typedef enum {
-    PMU_HP_ICG_MODEM_CODE_SLEEP = 0,
-    PMU_HP_ICG_MODEM_CODE_MODEM = 1,
-    PMU_HP_ICG_MODEM_CODE_ACTIVE = 2,
-} pmu_hp_icg_modem_mode_t;
-
 #if SOC_PMU_SUPPORTED
 
 #define RTC_SLEEP_PD_DIG                PMU_SLEEP_PD_TOP        //!< Deep sleep (power down digital domain, includes all power domains
diff --git a/components/esp_hw_support/include/esp_private/sleep_clock.h b/components/esp_hw_support/include/esp_private/sleep_clock.h
index 60b5a715027..cdaf844a1eb 100644
--- a/components/esp_hw_support/include/esp_private/sleep_clock.h
+++ b/components/esp_hw_support/include/esp_private/sleep_clock.h
@@ -51,7 +51,7 @@ bool clock_domain_pd_allowed(void);
  */
 esp_err_t sleep_clock_system_retention_init(void *arg);
 
-#if CONFIG_MAC_BB_PD || CONFIG_BT_LE_SLEEP_ENABLE || CONFIG_BT_CTRL_SLEEP_ENABLE || CONFIG_IEEE802154_SLEEP_ENABLE || SOC_PM_MODEM_CLK_CONF_RETENTION
+#if CONFIG_MAC_BB_PD || CONFIG_BT_LE_SLEEP_ENABLE || CONFIG_BT_CTRL_SLEEP_ENABLE || CONFIG_IEEE802154_SLEEP_ENABLE
 /**
  * @brief Modem system clock retention initialize.
  *