diff --git a/tools/bt/ble_log_console/console.py b/tools/bt/ble_log_console/console.py
index 071761c0320..d2a449d0d03 100644
--- a/tools/bt/ble_log_console/console.py
+++ b/tools/bt/ble_log_console/console.py
@@ -12,7 +12,7 @@ Usage:
 from datetime import datetime
 from pathlib import Path
 
-import click
+import rich_click as click
 from src.app import BLELogApp
 from src.backend.models import format_bytes
 from src.backend.uart_transport import validate_uart_port
diff --git a/tools/idf.py b/tools/idf.py
index 7e0cb033d48..33c50ab6921 100755
--- a/tools/idf.py
+++ b/tools/idf.py
@@ -157,9 +157,15 @@ def _safe_relpath(path: str, start: str | None = None) -> str:
 
 
 def init_cli(verbose_output: list | None = None) -> Any:
-    # Click is imported here to run it after check_environment()
-    import click
+    # rich-click is imported here to run it after check_environment()
+    import rich_click as click
+    from click.core import ParameterSource
     from click.shell_completion import CompletionItem
+    from rich_click import Context
+    from rich_click import RichHelpConfiguration
+    from rich_click import RichHelpFormatter
+    from rich_click.rich_click import MAX_WIDTH
+    from rich_click.rich_context import RichContext
 
     class Deprecation:
         """Construct deprecation notice for help messages"""
@@ -211,7 +217,7 @@ def init_cli(verbose_output: list | None = None) -> Any:
             text = text or ''
             return ('Deprecated! ' + text) if self.deprecated else text
 
-    def check_deprecation(ctx: click.core.Context) -> None:
+    def check_deprecation(ctx: Context) -> None:
         """Prints deprecation warnings for arguments in given context"""
         for option in ctx.command.params:
             # Skip non-Option parameters
@@ -228,7 +234,7 @@ def init_cli(verbose_output: list | None = None) -> Any:
             if hasattr(ctx, 'get_parameter_source'):
                 source = ctx.get_parameter_source(option.name)
                 # Skip if option was not explicitly provided by user (only warn when actually used)
-                if source not in (click.core.ParameterSource.COMMANDLINE, click.core.ParameterSource.ENVIRONMENT):
+                if source not in (ParameterSource.COMMANDLINE, ParameterSource.ENVIRONMENT):
                     continue
             else:
                 # Fallback: check if value differs from default
@@ -262,15 +268,13 @@ def init_cli(verbose_output: list | None = None) -> Any:
             self.action_args = action_args
             self.aliases = aliases
 
-        def __call__(
-            self, context: click.core.Context, global_args: PropertyDict, action_args: dict | None = None
-        ) -> None:
+        def __call__(self, context: Context, global_args: PropertyDict, action_args: dict | None = None) -> None:
             if action_args is None:
                 action_args = self.action_args
 
             self.callback(self.name, context, global_args, **action_args)
 
-    class Action(click.Command):
+    class Action(click.RichCommand):
         callback: Callable
 
         def __init__(
@@ -331,7 +335,7 @@ def init_cli(verbose_output: list | None = None) -> Any:
 
                 self.callback: Callable = wrapped_callback
 
-        def invoke(self, ctx: click.core.Context) -> click.core.Context:
+        def invoke(self, ctx: Context) -> Context:
             if self.deprecated:
                 deprecation = Deprecation(self.deprecated)
                 message = deprecation.full_message(f'Command "{self.name}"')
@@ -347,7 +351,27 @@ def init_cli(verbose_output: list | None = None) -> Any:
             check_deprecation(ctx)
             return super().invoke(ctx)
 
-    class Argument(click.Argument):
+        def format_options(self, ctx: Context, formatter: RichHelpFormatter) -> None:
+            """
+            default_panels_first=True causes the
+            renderer to drop `post_default_panels` for options on non-Group
+            commands, which is exactly where the subcommand "Options" panel
+            lives -- `idf.py <subcmd> --help` would otherwise show only
+            Usage + description. Temporarily flip the flag to False while
+            rendering options.
+            """
+            # default_panels_first=True is introduced in rich-click 1.9.6
+            if not hasattr(formatter.config, 'default_panels_first'):
+                super().format_options(ctx, formatter)
+                return
+            prev_default_first = formatter.config.default_panels_first
+            try:
+                formatter.config.default_panels_first = False
+                super().format_options(ctx, formatter)
+            finally:
+                formatter.config.default_panels_first = prev_default_first
+
+    class Argument(click.RichArgument):
         """
         Positional argument
 
@@ -390,7 +414,7 @@ def init_cli(verbose_output: list | None = None) -> Any:
         def __str__(self) -> str:
             return self._scope
 
-    class Option(click.Option):
+    class Option(click.RichOption):
         """Option that knows whether it should be global"""
 
         def __init__(
@@ -428,14 +452,80 @@ def init_cli(verbose_output: list | None = None) -> Any:
             if self.scope.is_global:
                 self.help += ' This option can be used at most once either globally, or for one subcommand.'
 
-        def get_help_record(self, ctx: click.core.Context) -> Any:
+        def get_help_record(self, ctx: Context) -> Any:
             # Backport "hidden" parameter to click 5.0
             if self.hidden:
                 return None
 
             return super().get_help_record(ctx)
 
-    class CLI(click.Group):
+    def _emit_cmake_custom_targets_help_panel(formatter: RichHelpFormatter, targets: list[tuple[str, str]]) -> None:
+        """Render CMake phony targets as an extra rich-click-looking panel.
+        They are not Click commands/options, so the ordinary help machinery does not list them.
+        """
+        import rich.box
+        from rich.box import Box
+        from rich.panel import Panel
+        from rich.table import Table
+        from rich.text import Text
+
+        # Rich-click adds these boxes on top of rich.box; recreate them locally with the
+        # same eight-line layout so the public rich API is enough.
+        # Otherwise rich-click internal modules would be needed (which can change over time).
+        _RICH_CLICK_EXTRA_BOXES: dict[str, Box] = {
+            'BLANK': Box('    \n' * 8),
+            'HORIZONTALS_TOP': Box(' ── \n' + '    \n' * 7),
+            'HORIZONTALS_DOUBLE_TOP': Box(' ══ \n' + '    \n' * 7),
+        }
+
+        def _resolve_panel_box(raw: Any) -> Box:
+            if isinstance(raw, Box):
+                return raw
+            if isinstance(raw, str):
+                if raw in _RICH_CLICK_EXTRA_BOXES:
+                    return _RICH_CLICK_EXTRA_BOXES[raw]
+                box = getattr(rich.box, raw, None)
+                if isinstance(box, Box):
+                    return box
+            return rich.box.ROUNDED
+
+        cfg = formatter.config
+        panel_box = _resolve_panel_box(cfg.style_commands_panel_box)
+        t_styles = {
+            'show_lines': cfg.style_commands_table_show_lines,
+            'leading': cfg.style_commands_table_leading,
+            'box': None,
+            'border_style': cfg.style_commands_table_border_style,
+            'row_styles': cfg.style_commands_table_row_styles,
+            'pad_edge': cfg.style_commands_table_pad_edge,
+            'padding': cfg.style_commands_table_padding,
+            'expand': cfg.style_commands_table_expand,
+        }
+        table = Table(show_header=False, highlight=False, **t_styles)
+        ratio = cfg.style_commands_table_column_width_ratio
+        r0, r1 = (None, None) if ratio is None else ratio
+        table.add_column(style=cfg.style_command, no_wrap=True, ratio=r0)
+        table.add_column(no_wrap=False, ratio=r1)
+        for name, desc in targets:
+            desc_cell = Text(desc, style=cfg.style_helptext) if desc else Text()
+            table.add_row(Text(name, style=cfg.style_command), desc_cell)
+
+        title = Text(
+            _help_custom_targets.CMAKE_CUSTOM_TARGETS_HELP_PANEL_TITLE,
+            style=cfg.style_commands_panel_title_style,
+        )
+        panel = Panel(
+            table,
+            border_style=cfg.style_commands_panel_border,
+            title_align=cfg.align_commands_panel,
+            box=panel_box,
+            padding=cfg.style_commands_panel_padding,
+            style=cfg.style_commands_panel_style,
+            title=title,
+        )
+        formatter.console.print(panel, highlight=False)
+
+    class CLI(click.RichGroup):
         """Action list contains all actions with options available for CLI"""
 
         def __init__(
@@ -443,13 +533,26 @@ def init_cli(verbose_output: list | None = None) -> Any:
             all_actions: dict | None = None,
             verbose_output: list | None = None,
             cli_help: str | None = None,
+            command_groups: dict[str, list[dict[str, Any]]] | None = None,
         ) -> None:
+            rich_help_config_kwargs: dict[str, Any] = {
+                'max_width': MAX_WIDTH,
+                'command_groups': command_groups if command_groups is not None else {},
+            }
+            # ``default_panels_first`` was added in rich-click 1.9.6; on older
+            # versions passing it raises TypeError.
+            if hasattr(RichHelpConfiguration, 'default_panels_first'):
+                rich_help_config_kwargs['default_panels_first'] = True
             super().__init__(
+                PROG,
                 chain=True,
                 invoke_without_command=True,
                 result_callback=self.execute_tasks,
                 no_args_is_help=True,
-                context_settings={'max_content_width': 140},
+                context_settings={
+                    'help_option_names': ['-h', '--help'],
+                    'rich_help_config': RichHelpConfiguration(**rich_help_config_kwargs),
+                },
                 help=cli_help,
             )
             self._actions = {}
@@ -489,6 +592,7 @@ def init_cli(verbose_output: list | None = None) -> Any:
                     options = []
 
                 self._actions[name] = Action(name=name, **action)
+                self.commands[name] = self._actions[name]
                 for alias in [name] + action.get('aliases', []):
                     self.commands_with_aliases[alias] = name
 
@@ -514,10 +618,10 @@ def init_cli(verbose_output: list | None = None) -> Any:
 
                     self._actions[name].params.append(option)
 
-        def list_commands(self, ctx: click.core.Context) -> list:
+        def list_commands(self, ctx: Context) -> list:
             return sorted(filter(lambda name: not self._actions[name].hidden, self._actions))
 
-        def get_command(self, ctx: click.core.Context, name: str) -> Action | None:
+        def get_command(self, ctx: Context, name: str) -> Action | None:
             if name in self.commands_with_aliases:
                 return self._actions.get(self.commands_with_aliases.get(name))
 
@@ -528,7 +632,7 @@ def init_cli(verbose_output: list | None = None) -> Any:
                     return Action(name=name, callback=callback.unwrapped_callback)
                 return None
 
-        def shell_complete(self, ctx: click.core.Context, incomplete: str) -> list[CompletionItem]:
+        def shell_complete(self, ctx: Context, incomplete: str) -> list[CompletionItem]:
             # Enable @-argument completion in bash only if @ is not present in
             # COMP_WORDBREAKS. When @ is included, the @-argument is not considered
             # part of the completion word, causing @-argument completion to function
@@ -847,13 +951,13 @@ def init_cli(verbose_output: list | None = None) -> Any:
 
             return [(n, '') for n in sorted(found, key=str.lower)]
 
-        def format_help(self, ctx: click.core.Context, formatter: click.HelpFormatter) -> None:
-            """Override to append custom CMake targets section."""
+        def format_help(self, ctx: RichContext, formatter: RichHelpFormatter) -> None:
+            """Append CMake custom targets using the same Rich console as the rest of rich-click help."""
             super().format_help(ctx, formatter)
             targets = self._get_custom_targets()
-            if targets:
-                with formatter.section('CMake Custom Targets'):
-                    formatter.write_dl(list(targets))
+            if not targets:
+                return
+            _emit_cmake_custom_targets_help_panel(formatter, targets)
 
     def load_cli_extension_from_dir(ext_dir: str) -> Any | None:
         """Load extension 'idf_ext.py' from directory and return the action_extensions function"""
@@ -928,15 +1032,14 @@ def init_cli(verbose_output: list | None = None) -> Any:
         build_dir: str = args.build_dir
         return os.path.abspath(build_dir)
 
-    def _extract_relevant_path(path: str) -> str:
-        """
-        Returns part of the path starting from 'components' or 'managed_components'.
-        If neither is found, returns the full path.
-        """
-        for keyword in ('components', 'managed_components'):
-            # arg path is loaded from project_description.json, where paths are always defined with '/'
-            if keyword in path.split('/'):
-                return keyword + path.split(keyword, 1)[1]
+    def _path_relative_to_project(path: str, project_dir: str) -> str:
+        """If ``path`` is under ``project_dir``, return its path relative to the project; else ``path`` unchanged."""
+        path_abs = os.path.abspath(os.path.normpath(path))
+        project_abs = os.path.abspath(os.path.normpath(project_dir))
+        parent_prefix = project_abs.rstrip(os.sep) + os.sep
+        if path_abs == project_abs or path_abs.startswith(parent_prefix):
+            return _safe_relpath(path_abs, project_abs)
+
         return path
 
     # Mutable dict used as a cache keyed by lock path
@@ -1008,6 +1111,20 @@ def init_cli(verbose_output: list | None = None) -> Any:
             return lock_key in _get_trusted_names_from_lock(lock_path)
         return False
 
+    def _build_rich_help_command_groups(
+        external_panels: list[tuple[str, list[str]]],
+    ) -> dict[str, list[dict[str, Any]]]:
+        """Build ``command_groups`` for rich-click's ``RichHelpConfiguration``.
+        ``external_panels`` is a list of ``(title, command_names)`` from ``idf_ext.py`` extension
+        modules and from Python entry-point extensions. Those panels appear on
+        the root ``idf.py --help`` after the default Commands section.
+        """
+        panels: list[dict[str, Any]] = []
+        for title, cmds in external_panels:
+            if cmds:
+                panels.append({'name': title, 'commands': cmds})
+        return {PROG: panels} if panels else {}
+
     # That's a tiny parser that parse project-dir even before constructing
     # fully featured click parser to be sure that extensions are loaded from the right place
     @click.command(
@@ -1107,31 +1224,44 @@ def init_cli(verbose_output: list | None = None) -> Any:
                 else:
                     print_warning(
                         f'WARNING: Not loading component extension from untrusted source '
-                        f'"{_extract_relevant_path(comp_dir)}". '
+                        f'"{_path_relative_to_project(comp_dir, project_dir)}". '
                         'Only extensions from trusted sources are loaded. Run '
                         '"idf.py docs -sp api-guides/tools/idf-py.html#extending-idf-py" '
                         'for the list of trusted sources. Set IDF_EXTENSION_ALLOW_UNTRUSTED=1 to load all.'
                     )
 
     # Load extensions from directories that participate in the build (components and project)
+    external_help_panels: list[tuple[str, list[str]]] = []
     for ext_dir in component_idf_ext_dirs + [project_dir]:
         extension_func = load_cli_extension_from_dir(ext_dir)
         if extension_func:
             try:
-                all_actions = merge_action_lists(all_actions, custom_actions=extension_func(all_actions, project_dir))
+                custom_actions = extension_func(all_actions, project_dir)
+                all_actions = merge_action_lists(all_actions, custom_actions=custom_actions)
             except Exception as e:
                 print_warning(f'WARNING: Cannot load directory extension from "{ext_dir}": {e}')
             else:
+                panel_cmds = sorted(n for n in custom_actions.get('actions') or {} if n != 'fallback')
+                if panel_cmds:
+                    panel_title = (
+                        'Project' if ext_dir == project_dir else _path_relative_to_project(ext_dir, project_dir)
+                    )
+                    external_help_panels.append((panel_title, panel_cmds))
                 if ext_dir != project_dir:
-                    print(f'INFO: Loaded component extension from "{_extract_relevant_path(ext_dir)}"')
+                    print(f'INFO: Loaded component extension from "{_path_relative_to_project(ext_dir, project_dir)}"')
 
     # Load extensions from Python entry points
     entry_point_extensions = load_cli_extensions_from_entry_points()
-    for name, extension_func in entry_point_extensions:
+    for ep_name, extension_func in entry_point_extensions:
         try:
-            all_actions = merge_action_lists(all_actions, custom_actions=extension_func(all_actions, project_dir))
+            custom_actions = extension_func(all_actions, project_dir)
+            all_actions = merge_action_lists(all_actions, custom_actions=custom_actions)
         except Exception as e:
-            print_warning(f'WARNING: Cannot load entry point extension "{name}": {e}')
+            print_warning(f'WARNING: Cannot load entry point extension "{ep_name}": {e}')
+        else:
+            panel_cmds = sorted(n for n in (custom_actions.get('actions') or {}) if n != 'fallback')
+            if panel_cmds:
+                external_help_panels.append((ep_name, panel_cmds))
 
     cli_help = (
         'ESP-IDF CLI build management tool. '
@@ -1139,7 +1269,13 @@ def init_cli(verbose_output: list | None = None) -> Any:
         f'Selected target: {get_target(project_dir)}'
     )
 
-    return CLI(cli_help=cli_help, verbose_output=verbose_output, all_actions=all_actions)
+    help_command_groups = _build_rich_help_command_groups(external_help_panels)
+    return CLI(
+        cli_help=cli_help,
+        verbose_output=verbose_output,
+        all_actions=all_actions,
+        command_groups=help_command_groups,
+    )
 
 
 def main(argv: list[Any] | None = None) -> None:
diff --git a/tools/idf_py_actions/core_ext.py b/tools/idf_py_actions/core_ext.py
index b1d3d359bc2..9f51c334e9e 100644
--- a/tools/idf_py_actions/core_ext.py
+++ b/tools/idf_py_actions/core_ext.py
@@ -15,8 +15,8 @@ from urllib.request import Request
 from urllib.request import urlopen
 from webbrowser import open_new_tab
 
-import click
-from click.core import Context
+import rich_click as click
+from rich_click import Context
 
 from idf_py_actions.constants import GENERATORS
 from idf_py_actions.constants import PREVIEW_TARGETS
@@ -167,7 +167,7 @@ def action_extensions(base_actions: dict, project_path: str) -> Any:
             os.environ.pop('ESP_IDF_KCONFIG_MIN_LABELS', None)
         build_target(target_name, ctx, args)
 
-    def refresh_config(action: str, ctx: click.core.Context, args: PropertyDict, policy: str) -> None:
+    def refresh_config(action: str, ctx: Context, args: PropertyDict, policy: str) -> None:
         ensure_build_directory(args, ctx.info_name)
         run_target('refresh-config', args=args, env={'KCONFIG_DEFAULTS_POLICY': policy}, interactive=True)
 
diff --git a/tools/idf_py_actions/create_ext.py b/tools/idf_py_actions/create_ext.py
index 2feab908f07..5cafafb5914 100644
--- a/tools/idf_py_actions/create_ext.py
+++ b/tools/idf_py_actions/create_ext.py
@@ -8,7 +8,7 @@ from collections.abc import Callable
 from shutil import copyfile
 from shutil import copytree
 
-import click
+from rich_click import Context
 
 from idf_py_actions.tools import PropertyDict
 
@@ -106,7 +106,7 @@ def create_component(target_path: str, name: str) -> None:
 
 
 def action_extensions(base_actions: dict, project_path: str) -> dict:
-    def create_new(action: str, ctx: click.core.Context, global_args: PropertyDict, **action_args: str) -> dict:
+    def create_new(action: str, ctx: Context, global_args: PropertyDict, **action_args: str) -> dict:
         target_path = action_args.get('path') or os.path.join(project_path, action_args['name'])
 
         is_empty_and_create(target_path, action)
diff --git a/tools/idf_py_actions/debug_ext.py b/tools/idf_py_actions/debug_ext.py
index ca4aeacf7b6..5efb28dc9fe 100644
--- a/tools/idf_py_actions/debug_ext.py
+++ b/tools/idf_py_actions/debug_ext.py
@@ -11,9 +11,9 @@ import time
 from threading import Thread
 from typing import Any
 
-from click import INT
-from click.core import Context
 from esp_coredump import CoreDump
+from rich_click import INT
+from rich_click import Context
 
 from idf_py_actions.errors import FatalError
 from idf_py_actions.serial_ext import BAUD_RATE
diff --git a/tools/idf_py_actions/dfu_ext.py b/tools/idf_py_actions/dfu_ext.py
index 4c72f6db829..b86bb309964 100644
--- a/tools/idf_py_actions/dfu_ext.py
+++ b/tools/idf_py_actions/dfu_ext.py
@@ -1,17 +1,16 @@
-# SPDX-FileCopyrightText: 2022-2024 Espressif Systems (Shanghai) CO LTD
+# SPDX-FileCopyrightText: 2022-2026 Espressif Systems (Shanghai) CO LTD
 # SPDX-License-Identifier: Apache-2.0
-from typing import Dict
 
-from click.core import Context
+from rich_click import Context
+
 from idf_py_actions.errors import FatalError
+from idf_py_actions.tools import PropertyDict
 from idf_py_actions.tools import ensure_build_directory
 from idf_py_actions.tools import is_target_supported
-from idf_py_actions.tools import PropertyDict
 from idf_py_actions.tools import run_target
 
 
-def action_extensions(base_actions: Dict, project_path: str) -> Dict:
-
+def action_extensions(base_actions: dict, project_path: str) -> dict:
     SUPPORTED_TARGETS = ['esp32s2', 'esp32s3', 'esp32p4']
 
     def dfu_target(target_name: str, ctx: Context, args: PropertyDict, part_size: str) -> None:
@@ -29,8 +28,10 @@ def action_extensions(base_actions: Dict, project_path: str) -> Dict:
             run_target(target_name, args, {'ESP_DFU_PATH': path})
         except FatalError:
             # Cannot capture the error from dfu-util here so the best advise is:
-            print('Please have a look at the "Device Firmware Upgrade through USB" chapter in API Guides of the '
-                  'ESP-IDF documentation for solving common dfu-util issues.')
+            print(
+                'Please have a look at the "Device Firmware Upgrade through USB" chapter in API Guides of the '
+                'ESP-IDF documentation for solving common dfu-util issues.'
+            )
             raise
 
     dfu_actions = {
@@ -43,8 +44,8 @@ def action_extensions(base_actions: Dict, project_path: str) -> Dict:
                     {
                         'names': ['--part-size'],
                         'help': 'Large files are split up into smaller partitions in order to avoid timeout during '
-                                'erasing flash. This option allows to overwrite the default partition size of '
-                                'mkdfu.py.'
+                        'erasing flash. This option allows to overwrite the default partition size of '
+                        'mkdfu.py.',
                     }
                 ],
             },
@@ -62,8 +63,8 @@ def action_extensions(base_actions: Dict, project_path: str) -> Dict:
                         'names': ['--path'],
                         'default': '',
                         'help': 'Specify path to DFU device. The default empty path works if there is just one '
-                                'ESP device with the same product identifier. See the device list for paths '
-                                'of available devices.'
+                        'ESP device with the same product identifier. See the device list for paths '
+                        'of available devices.',
                     }
                 ],
             },
diff --git a/tools/idf_py_actions/diag_ext.py b/tools/idf_py_actions/diag_ext.py
index 8950d04fef7..2a8961491ca 100644
--- a/tools/idf_py_actions/diag_ext.py
+++ b/tools/idf_py_actions/diag_ext.py
@@ -1,13 +1,10 @@
-# SPDX-FileCopyrightText: 2024-2025 Espressif Systems (Shanghai) CO LTD
+# SPDX-FileCopyrightText: 2024-2026 Espressif Systems (Shanghai) CO LTD
 # SPDX-License-Identifier: Apache-2.0
 import sys
 import uuid
 from typing import Any
-from typing import Dict
-from typing import Optional
-from typing import Tuple
 
-import click
+from rich_click import Context
 
 from idf_py_actions.tools import PropertyDict
 from idf_py_actions.tools import RunTool
@@ -16,20 +13,20 @@ from idf_py_actions.tools import yellow_print
 
 def diag(
     action: str,
-    ctx: click.core.Context,
+    ctx: Context,
     args: PropertyDict,
     debug: bool,
     log_prefix: bool,
     force: bool,
     no_color: bool,
-    zip_directory: Optional[str],
+    zip_directory: str | None,
     list_recipes: bool,
     check_recipes: bool,
-    cmdl_recipes: Tuple,
-    cmdl_tags: Tuple,
-    purge_file: Optional[str],
+    cmdl_recipes: tuple,
+    cmdl_tags: tuple,
+    purge_file: str | None,
     append: bool,
-    output: Optional[str],
+    output: str | None,
 ) -> None:
     diag_args: list = [sys.executable, '-m', 'esp_idf_diag']
 
@@ -106,12 +103,10 @@ def diag(
             diag_args += ['--port', args.port]
         else:
             yellow_print(
-                (
-                    'The target serial port is not specified, so '
-                    'autodetection will be used. To set it manually, use '
-                    'the "--port" option. Example: "idf.py --port '
-                    '/dev/ttyUSB0 diag".'
-                )
+                'The target serial port is not specified, so '
+                'autodetection will be used. To set it manually, use '
+                'the "--port" option. Example: "idf.py --port '
+                '/dev/ttyUSB0 diag".'
             )
 
     try:
@@ -121,18 +116,16 @@ def diag(
 
     if command == 'create':
         yellow_print(
-            (
-                f'Please make sure to thoroughly check it for any sensitive '
-                f'information before sharing and remove files you do not want '
-                f'to share. Kindly include any additional files you find '
-                f'relevant that were not automatically added. Please archive '
-                f'the contents of the final report directory using the command:\n'
-                f'"idf.py diag --zip {output}".'
-            )
+            f'Please make sure to thoroughly check it for any sensitive '
+            f'information before sharing and remove files you do not want '
+            f'to share. Kindly include any additional files you find '
+            f'relevant that were not automatically added. Please archive '
+            f'the contents of the final report directory using the command:\n'
+            f'"idf.py diag --zip {output}".'
         )
 
 
-def action_extensions(base_actions: Dict, project_path: str) -> Any:
+def action_extensions(base_actions: dict, project_path: str) -> Any:
     return {
         'actions': {
             'diag': {
diff --git a/tools/idf_py_actions/errors.py b/tools/idf_py_actions/errors.py
index 8648952c29a..a4f5f69158a 100644
--- a/tools/idf_py_actions/errors.py
+++ b/tools/idf_py_actions/errors.py
@@ -1,6 +1,6 @@
 # SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD
 # SPDX-License-Identifier: Apache-2.0
-from click.core import Context
+from rich_click import Context
 
 
 class FatalError(RuntimeError):
@@ -8,7 +8,7 @@ class FatalError(RuntimeError):
     Wrapper class for runtime errors that aren't caused by bugs in idf.py or the build process.
     """
 
-    def __init__(self, message: str, ctx: Context=None):
+    def __init__(self, message: str, ctx: Context = None):
         super(RuntimeError, self).__init__(message)
         # if context is defined, check for the cleanup tasks
         if ctx is not None and 'cleanup' in ctx.meta:
diff --git a/tools/idf_py_actions/help_custom_targets_skip.py b/tools/idf_py_actions/help_custom_targets_skip.py
index f2cef3f0c71..b0a61f59b4d 100644
--- a/tools/idf_py_actions/help_custom_targets_skip.py
+++ b/tools/idf_py_actions/help_custom_targets_skip.py
@@ -16,6 +16,9 @@ from __future__ import annotations
 import re
 from collections.abc import Set
 
+# Panel title in ``idf.py --help`` (rich-click)
+CMAKE_CUSTOM_TARGETS_HELP_PANEL_TITLE = 'CMake Custom Targets:'
+
 # ``cmake --build … --target help`` / ``ninja -t targets`` lines: ``name: phony`` (last ``:`` before rule).
 PHONY_BUILD_LINE_RE = re.compile(r'^(.+):\s*(\S+)\s*$')
 # ``build.ninja`` lines: ``build <name>: phony``.
diff --git a/tools/idf_py_actions/mcp_ext.py b/tools/idf_py_actions/mcp_ext.py
index 51174e45550..72bd5c3c1f6 100644
--- a/tools/idf_py_actions/mcp_ext.py
+++ b/tools/idf_py_actions/mcp_ext.py
@@ -8,7 +8,7 @@ import sys
 from pathlib import Path
 from typing import Any
 
-from click.core import Context
+from rich_click import Context
 
 from idf_py_actions.errors import FatalError
 from idf_py_actions.tools import PropertyDict
diff --git a/tools/idf_py_actions/qemu_ext.py b/tools/idf_py_actions/qemu_ext.py
index 680d361cd59..6aa8a7a5fc8 100644
--- a/tools/idf_py_actions/qemu_ext.py
+++ b/tools/idf_py_actions/qemu_ext.py
@@ -14,7 +14,7 @@ import time
 from dataclasses import dataclass
 from typing import Any
 
-from click.core import Context
+from rich_click import Context
 
 try:
     from idf_py_actions.tools import PropertyDict
diff --git a/tools/idf_py_actions/serial_ext.py b/tools/idf_py_actions/serial_ext.py
index 02b962520a6..4685708b12c 100644
--- a/tools/idf_py_actions/serial_ext.py
+++ b/tools/idf_py_actions/serial_ext.py
@@ -8,7 +8,9 @@ import sys
 from pathlib import Path
 from typing import Any
 
-import click
+import rich_click as click
+from click.core import ParameterSource
+from rich_click import Context
 
 from idf_py_actions.errors import FatalError
 from idf_py_actions.global_options import global_options
@@ -50,7 +52,7 @@ def yellow_print(message: str, newline: str | None = '\n') -> None:
 
 
 def action_extensions(base_actions: dict, project_path: str) -> dict:
-    def _get_project_desc(ctx: click.core.Context, args: PropertyDict) -> Any:
+    def _get_project_desc(ctx: Context, args: PropertyDict) -> Any:
         desc_path = os.path.join(args.build_dir, 'project_description.json')
         if not os.path.exists(desc_path):
             ensure_build_directory(args, ctx.info_name)
@@ -83,7 +85,7 @@ def action_extensions(base_actions: dict, project_path: str) -> dict:
             result += ['--no-stub']
         return result
 
-    def _get_commandline_options(ctx: click.core.Context) -> list:
+    def _get_commandline_options(ctx: Context) -> list:
         """Return all the command line options up to first action"""
         # This approach ignores argument parsing done Click
         result = []
@@ -98,7 +100,7 @@ def action_extensions(base_actions: dict, project_path: str) -> dict:
 
     def monitor(
         action: str,
-        ctx: click.core.Context,
+        ctx: Context,
         args: PropertyDict,
         print_filter: str,
         monitor_baud: str,
@@ -136,7 +138,7 @@ def action_extensions(base_actions: dict, project_path: str) -> dict:
                 # Use the global baud rate if it has been changed by the command line.
                 # Use project_desc['monitor_baud'] as the last option.
 
-                global_baud_defined = ctx._parameter_source['baud'] == click.core.ParameterSource.COMMANDLINE
+                global_baud_defined = ctx._parameter_source['baud'] == ParameterSource.COMMANDLINE
                 baud = args.baud if global_baud_defined else project_desc['monitor_baud']
 
             monitor_args += ['-b', baud]
@@ -205,7 +207,7 @@ def action_extensions(base_actions: dict, project_path: str) -> dict:
 
     def flash(
         action: str,
-        ctx: click.core.Context,
+        ctx: Context,
         args: PropertyDict,
         flash_all: bool,
         trust_flash_content: bool,
@@ -244,13 +246,13 @@ def action_extensions(base_actions: dict, project_path: str) -> dict:
             env['IDF_TRUST_FLASH_CONTENT'] = '1'
         run_target(action, args, env, force_progression=True, interactive=True)
 
-    def erase_flash(action: str, ctx: click.core.Context, args: PropertyDict) -> None:
+    def erase_flash(action: str, ctx: Context, args: PropertyDict) -> None:
         ensure_build_directory(args, ctx.info_name)
         esptool_args = _get_esptool_args(args)
         esptool_args += ['erase-flash']
         RunTool('esptool', esptool_args, args.build_dir, hints=not args.no_hints, interactive=True)()
 
-    def global_callback(ctx: click.core.Context, global_args: dict, tasks: PropertyDict) -> None:
+    def global_callback(ctx: Context, global_args: dict, tasks: PropertyDict) -> None:
         encryption = any([task.name in ('encrypted-flash', 'encrypted-app-flash') for task in tasks])
         if encryption:
             for task in tasks:
@@ -258,7 +260,7 @@ def action_extensions(base_actions: dict, project_path: str) -> dict:
                     task.action_args['encrypted'] = True
                     break
 
-    def ota_targets(target_name: str, ctx: click.core.Context, args: PropertyDict) -> None:
+    def ota_targets(target_name: str, ctx: Context, args: PropertyDict) -> None:
         """
         Execute the target build system to build target 'target_name'.
         Additionally set global variables for baud and port.
@@ -271,7 +273,7 @@ def action_extensions(base_actions: dict, project_path: str) -> dict:
 
     def merge_bin(
         action: str,
-        ctx: click.core.Context,
+        ctx: Context,
         args: PropertyDict,
         output: str,
         format: str,  # noqa: A002
@@ -319,7 +321,7 @@ def action_extensions(base_actions: dict, project_path: str) -> dict:
 
     def secure_decrypt_flash_data(
         action: str,
-        ctx: click.core.Context,
+        ctx: Context,
         args: PropertyDict,
         aes_xts: bool,
         keyfile: str,
@@ -345,7 +347,7 @@ def action_extensions(base_actions: dict, project_path: str) -> dict:
         RunTool('espsecure', decrypt_flash_data_args, args.build_dir)()
 
     def secure_digest_secure_bootloader(
-        action: str, ctx: click.core.Context, args: PropertyDict, keyfile: str, output: str, iv: str, **extra_args: str
+        action: str, ctx: Context, args: PropertyDict, keyfile: str, output: str, iv: str, **extra_args: str
     ) -> None:
         ensure_build_directory(args, ctx.info_name)
         digest_secure_bootloader_args = [PYTHON, '-m', 'espsecure', 'digest-secure-bootloader']
@@ -361,7 +363,7 @@ def action_extensions(base_actions: dict, project_path: str) -> dict:
 
     def secure_encrypt_flash_data(
         action: str,
-        ctx: click.core.Context,
+        ctx: Context,
         args: PropertyDict,
         aes_xts: bool,
         keyfile: str,
@@ -387,7 +389,7 @@ def action_extensions(base_actions: dict, project_path: str) -> dict:
         RunTool('espsecure', encrypt_flash_data_args, args.build_dir)()
 
     def secure_generate_flash_encryption_key(
-        action: str, ctx: click.core.Context, args: PropertyDict, keylen: str, **extra_args: str
+        action: str, ctx: Context, args: PropertyDict, keylen: str, **extra_args: str
     ) -> None:
         ensure_build_directory(args, ctx.info_name)
         generate_flash_encryption_key_args = [PYTHON, '-m', 'espsecure', 'generate-flash-encryption-key']
@@ -398,7 +400,7 @@ def action_extensions(base_actions: dict, project_path: str) -> dict:
         RunTool('espsecure', generate_flash_encryption_key_args, args.project_dir)()
 
     def secure_generate_signing_key(
-        action: str, ctx: click.core.Context, args: PropertyDict, version: str, scheme: str, **extra_args: str
+        action: str, ctx: Context, args: PropertyDict, version: str, scheme: str, **extra_args: str
     ) -> None:
         ensure_build_directory(args, ctx.info_name)
         generate_signing_key_args = [PYTHON, '-m', 'espsecure', 'generate-signing-key']
@@ -419,7 +421,7 @@ def action_extensions(base_actions: dict, project_path: str) -> dict:
         RunTool('espsecure', generate_signing_key_args, args.project_dir)()
 
     def secure_generate_key_digest(
-        action: str, ctx: click.core.Context, args: PropertyDict, keyfile: str, output: str, **extra_args: str
+        action: str, ctx: Context, args: PropertyDict, keyfile: str, output: str, **extra_args: str
     ) -> None:
         ensure_build_directory(args, ctx.info_name)
         generate_key_digest_args = [PYTHON, '-m', 'espsecure', 'digest-sbv2-public-key']
@@ -431,7 +433,7 @@ def action_extensions(base_actions: dict, project_path: str) -> dict:
 
     def secure_sign_data(
         action: str,
-        ctx: click.core.Context,
+        ctx: Context,
         args: PropertyDict,
         version: str,
         keyfile: str,
@@ -460,7 +462,7 @@ def action_extensions(base_actions: dict, project_path: str) -> dict:
         RunTool('espsecure', sign_data_args, args.build_dir)()
 
     def secure_verify_signature(
-        action: str, ctx: click.core.Context, args: PropertyDict, version: str, keyfile: str, **extra_args: str
+        action: str, ctx: Context, args: PropertyDict, version: str, keyfile: str, **extra_args: str
     ) -> None:
         ensure_build_directory(args, ctx.info_name)
         verify_signature_args = [PYTHON, '-m', 'espsecure', 'verify-signature']
@@ -474,7 +476,7 @@ def action_extensions(base_actions: dict, project_path: str) -> dict:
 
     def secure_generate_nvs_partition_key(
         action: str,
-        ctx: click.core.Context,
+        ctx: Context,
         args: PropertyDict,
         encryption_scheme: str,
         keyfile: str,
@@ -492,7 +494,7 @@ def action_extensions(base_actions: dict, project_path: str) -> dict:
         RunTool('espsecure', generate_nvs_partition_key_args, args.project_dir)()
 
     def secure_encrypt_nvs_partition(
-        action: str, ctx: click.core.Context, args: PropertyDict, keyfile: str, **extra_args: str
+        action: str, ctx: Context, args: PropertyDict, keyfile: str, **extra_args: str
     ) -> None:
         ensure_build_directory(args, ctx.info_name)
         encrypt_nvs_partition_args = [PYTHON, '-m', 'esp_idf_nvs_partition_gen', 'encrypt']
@@ -505,7 +507,7 @@ def action_extensions(base_actions: dict, project_path: str) -> dict:
             encrypt_nvs_partition_args += [extra_args['partition_size']]
         RunTool('espsecure', encrypt_nvs_partition_args, args.project_dir)()
 
-    def _parse_efuse_args(ctx: click.core.Context, args: PropertyDict, extra_args: dict) -> list:
+    def _parse_efuse_args(ctx: Context, args: PropertyDict, extra_args: dict) -> list:
         efuse_args = []
         if args.port:
             efuse_args += ['-p', args.port]
@@ -522,7 +524,7 @@ def action_extensions(base_actions: dict, project_path: str) -> dict:
             efuse_args += ['--do-not-confirm']
         return efuse_args
 
-    def efuse_burn(action: str, ctx: click.core.Context, args: PropertyDict, **extra_args: dict) -> None:
+    def efuse_burn(action: str, ctx: Context, args: PropertyDict, **extra_args: dict) -> None:
         ensure_build_directory(args, ctx.info_name)
         burn_efuse_args = [PYTHON, '-m', 'espefuse']
         burn_efuse_args += _parse_efuse_args(ctx, args, extra_args)
@@ -531,7 +533,7 @@ def action_extensions(base_actions: dict, project_path: str) -> dict:
             burn_efuse_args += list(extra_args['efuse_positional_args'])
         RunTool('espefuse', burn_efuse_args, args.build_dir)()
 
-    def efuse_burn_key(action: str, ctx: click.core.Context, args: PropertyDict, **extra_args: str) -> None:
+    def efuse_burn_key(action: str, ctx: Context, args: PropertyDict, **extra_args: str) -> None:
         ensure_build_directory(args, ctx.info_name)
         burn_key_args = [PYTHON, '-m', 'espefuse']
         burn_key_args += _parse_efuse_args(ctx, args, extra_args)
@@ -546,9 +548,7 @@ def action_extensions(base_actions: dict, project_path: str) -> dict:
             burn_key_args += extra_args['efuse_positional_args']
         RunTool('espefuse', burn_key_args, args.project_dir, build_dir=args.build_dir)()
 
-    def efuse_dump(
-        action: str, ctx: click.core.Context, args: PropertyDict, file_name: str, **extra_args: dict
-    ) -> None:
+    def efuse_dump(action: str, ctx: Context, args: PropertyDict, file_name: str, **extra_args: dict) -> None:
         ensure_build_directory(args, ctx.info_name)
         dump_args = [PYTHON, '-m', 'espefuse']
         dump_args += _parse_efuse_args(ctx, args, extra_args)
@@ -557,7 +557,7 @@ def action_extensions(base_actions: dict, project_path: str) -> dict:
             dump_args += ['--file-name', file_name]
         RunTool('espefuse', dump_args, args.build_dir)()
 
-    def efuse_read_protect(action: str, ctx: click.core.Context, args: PropertyDict, **extra_args: dict) -> None:
+    def efuse_read_protect(action: str, ctx: Context, args: PropertyDict, **extra_args: dict) -> None:
         ensure_build_directory(args, ctx.info_name)
         read_protect_args = [PYTHON, '-m', 'espefuse']
         read_protect_args += _parse_efuse_args(ctx, args, extra_args)
@@ -568,7 +568,7 @@ def action_extensions(base_actions: dict, project_path: str) -> dict:
 
     def efuse_summary(
         action: str,
-        ctx: click.core.Context,
+        ctx: Context,
         args: PropertyDict,
         format: str,  # noqa: A002
         **extra_args: dict,
@@ -583,7 +583,7 @@ def action_extensions(base_actions: dict, project_path: str) -> dict:
             summary_args += [str(extra_args['efuse_name'])]
         RunTool('espefuse', summary_args, args.build_dir)()
 
-    def efuse_write_protect(action: str, ctx: click.core.Context, args: PropertyDict, **extra_args: dict) -> None:
+    def efuse_write_protect(action: str, ctx: Context, args: PropertyDict, **extra_args: dict) -> None:
         ensure_build_directory(args, ctx.info_name)
         write_protect_args = [PYTHON, '-m', 'espefuse']
         write_protect_args += _parse_efuse_args(ctx, args, extra_args)
diff --git a/tools/idf_py_actions/tools.py b/tools/idf_py_actions/tools.py
index 8ab06824cf1..dd646001a72 100644
--- a/tools/idf_py_actions/tools.py
+++ b/tools/idf_py_actions/tools.py
@@ -16,7 +16,7 @@ from typing import Any
 from typing import TextIO
 from typing import cast
 
-import click
+import rich_click as click
 import yaml
 from esp_idf_monitor import get_ansi_converter
 
diff --git a/tools/idf_py_actions/uf2_ext.py b/tools/idf_py_actions/uf2_ext.py
index a6b2f467003..416735718f6 100644
--- a/tools/idf_py_actions/uf2_ext.py
+++ b/tools/idf_py_actions/uf2_ext.py
@@ -1,12 +1,14 @@
-# SPDX-FileCopyrightText: 2022-2023 Espressif Systems (Shanghai) CO LTD
+# SPDX-FileCopyrightText: 2022-2026 Espressif Systems (Shanghai) CO LTD
 # SPDX-License-Identifier: Apache-2.0
-from typing import Dict, List
 
-from click.core import Context
-from idf_py_actions.tools import PropertyDict, ensure_build_directory, run_target
+from rich_click import Context
+
+from idf_py_actions.tools import PropertyDict
+from idf_py_actions.tools import ensure_build_directory
+from idf_py_actions.tools import run_target
 
 
-def action_extensions(base_actions: Dict, project_path: List) -> Dict:
+def action_extensions(base_actions: dict, project_path: list) -> dict:
     def uf2_target(target_name: str, ctx: Context, args: PropertyDict, md5_disable: bool) -> None:
         ensure_build_directory(args, ctx.info_name)
         extra = list()
diff --git a/tools/requirements/requirements.core.txt b/tools/requirements/requirements.core.txt
index aef6c3e9a7e..854a0a3a206 100644
--- a/tools/requirements/requirements.core.txt
+++ b/tools/requirements/requirements.core.txt
@@ -7,6 +7,7 @@
 setuptools
 packaging
 click
+rich-click
 pyserial
 cryptography
 pyparsing
diff --git a/tools/test_build_system/test_common.py b/tools/test_build_system/test_common.py
index a74c0a351ae..bec4328c95d 100644
--- a/tools/test_build_system/test_common.py
+++ b/tools/test_build_system/test_common.py
@@ -3,6 +3,7 @@
 import json
 import logging
 import os
+import re
 import shutil
 import stat
 import subprocess
@@ -22,24 +23,44 @@ from test_build_system_helpers import get_snapshot
 from test_build_system_helpers import replace_in_file
 from test_build_system_helpers import run_idf_py
 
+_tools_dir = str(Path(EXT_IDF_PATH) / 'tools')
+if _tools_dir not in sys.path:
+    sys.path.insert(0, _tools_dir)
+from idf_py_actions.help_custom_targets_skip import CMAKE_CUSTOM_TARGETS_HELP_PANEL_TITLE  # noqa: E402
+
 
 def _parse_idf_py_help_cmake_custom_target_names(stdout: str) -> list[str]:
-    """Return target names listed under the ``CMake Custom Targets`` heading in ``idf.py --help`` output."""
+    """Parse CMake Custom Targets listed in ``idf.py --help`` in rich-click format.
+    Custom "plain-slim" rich-click theme is used to minimize the formatting impact.
+    Parsing starts from the line containing ``CMAKE_CUSTOM_TARGETS_HELP_PANEL_TITLE``.
+
+    - Piped outputs may use ``| … |`` table rows instead on some architectures (Unix/Windows).
+    - CI may still wrap lines in CSI SGR sequences (``ESC [ … m``).
+    """
     lines = stdout.splitlines()
-    for i, line in enumerate(lines):
-        if line.strip() != 'CMake Custom Targets:':
-            continue
-        names: list[str] = []
-        for j in range(i + 1, len(lines)):
-            raw = lines[j]
-            stripped = raw.strip()
-            if not stripped:
-                continue
-            if not raw.startswith((' ', '\t')):
+    idx = next((i for i, line in enumerate(lines) if CMAKE_CUSTOM_TARGETS_HELP_PANEL_TITLE in line), None)
+    if idx is None:
+        return []
+
+    _SGR_ESCAPE_RE = re.compile(r'\x1b\[[0-9;:]*m')
+    names: list[str] = []
+    for raw in lines[idx + 1 :]:
+        line = _SGR_ESCAPE_RE.sub('', raw)
+        stripped = line.strip()
+        if not stripped:
+            if names:
                 break
+            continue
+        if stripped.startswith('|'):
+            cells = [c.strip() for c in stripped.split('|') if c.strip()]
+            if cells:
+                names.append(cells[0].split(None, 1)[0])
+            continue
+        if line[:1].isspace():
             names.append(stripped.split(None, 1)[0])
-        return names
-    return []
+            continue
+        break
+    return names
 
 
 def get_subdirs_absolute_paths(path: Path) -> list[str]:
@@ -227,7 +248,7 @@ def test_fallback_to_build_system_target(idf_py: IdfPyFunc, test_app_copy: Path)
 def test_idf_py_help_without_build_dir_has_no_cmake_custom_targets_section(idf_py: IdfPyFunc) -> None:
     """With no configured build directory, root help must not advertise CMake custom targets."""
     ret = idf_py('--help')
-    assert 'CMake Custom Targets' not in ret.stdout
+    assert CMAKE_CUSTOM_TARGETS_HELP_PANEL_TITLE not in ret.stdout
 
 
 @pytest.mark.buildv2_skip(
@@ -240,7 +261,7 @@ def test_idf_py_help_after_configure_with_no_custom_targets_has_no_section(idf_p
     """After configure, if the project defines no custom targets, `idf.py --help` must not show the section."""
     idf_py('reconfigure')
     ret = idf_py('--help')
-    assert 'CMake Custom Targets' not in ret.stdout
+    assert CMAKE_CUSTOM_TARGETS_HELP_PANEL_TITLE not in ret.stdout
 
 
 @pytest.mark.buildv2_skip(
@@ -249,7 +270,9 @@ def test_idf_py_help_after_configure_with_no_custom_targets_has_no_section(idf_p
     'tools/idf_py_actions/help_custom_targets_skip.py was designed around v1 hard-coded names.'
 )
 @pytest.mark.usefixtures('test_app_copy')
-def test_idf_py_help_lists_cmake_custom_targets_after_configure(idf_py: IdfPyFunc, test_app_copy: Path) -> None:
+def test_idf_py_help_lists_cmake_custom_targets_after_configure(
+    idf_py: IdfPyFunc, test_app_copy: Path, default_idf_env: EnvDict
+) -> None:
     """After configure, project-only phony targets should appear under CMake Custom Targets in idf.py --help."""
     tgt = 'idf_py_help_visible_custom_tgt'
     append_to_file(
@@ -257,8 +280,9 @@ def test_idf_py_help_lists_cmake_custom_targets_after_configure(idf_py: IdfPyFun
         f'add_custom_target({tgt} COMMAND ${{CMAKE_COMMAND}} -E echo "ok")\n',
     )
     idf_py('reconfigure')
-    ret = idf_py('--help')
-    assert 'CMake Custom Targets' in ret.stdout
+    env = {**default_idf_env, 'RICH_CLICK_THEME': 'plain-slim'}
+    ret = run_idf_py('--help', env=env)
+    assert CMAKE_CUSTOM_TARGETS_HELP_PANEL_TITLE in ret.stdout
     assert tgt in ret.stdout
 
     tools_dir = str(Path(EXT_IDF_PATH) / 'tools')
@@ -268,6 +292,7 @@ def test_idf_py_help_lists_cmake_custom_targets_after_configure(idf_py: IdfPyFun
     from idf_py_actions.help_custom_targets_skip import help_phony_name_passes_shape_policy  # noqa: E402
 
     names = _parse_idf_py_help_cmake_custom_target_names(ret.stdout)
+    assert tgt in names, f'{tgt} not found in the CMake custom target printed in stdout'
     for n in names:
         assert help_phony_name_passes_shape_policy(n), (
             f'Target {n!r} in CMake Custom Targets violates shape policy (prefix/suffix/substring/path). '
@@ -288,7 +313,9 @@ def test_idf_py_help_lists_cmake_custom_targets_after_configure(idf_py: IdfPyFun
 
 
 @pytest.mark.usefixtures('test_app_copy')
-def test_idf_py_help_splits_multi_output_ninja_phony_targets(idf_py: IdfPyFunc, test_app_copy: Path) -> None:
+def test_idf_py_help_splits_multi_output_ninja_phony_targets(
+    idf_py: IdfPyFunc, test_app_copy: Path, default_idf_env: EnvDict
+) -> None:
     """Multi-output Ninja `build ...: phony` lines must yield separate target names (not a single whitespace string)."""
     a = 'idf_py_help_multi_out_a'
     b = 'idf_py_help_multi_out_b'
@@ -297,7 +324,8 @@ def test_idf_py_help_splits_multi_output_ninja_phony_targets(idf_py: IdfPyFunc,
 
     # Inject a multi-output phony line directly into build.ninja and verify help parsing splits it.
     append_to_file(test_app_copy / 'build' / 'build.ninja', f'\nbuild {a} {b} {c}: phony\n')
-    ret = idf_py('--help')
+    env = {**default_idf_env, 'RICH_CLICK_THEME': 'plain-slim'}
+    ret = run_idf_py('--help', env=env)
 
     names = _parse_idf_py_help_cmake_custom_target_names(ret.stdout)
     assert a in names
diff --git a/tools/test_build_system/test_idf_extension.py b/tools/test_build_system/test_idf_extension.py
index 0a8746d341b..766eae6fa65 100644
--- a/tools/test_build_system/test_idf_extension.py
+++ b/tools/test_build_system/test_idf_extension.py
@@ -18,6 +18,7 @@ from test_build_system_helpers import EnvDict
 from test_build_system_helpers import IdfPyFunc
 from test_build_system_helpers import find_python
 from test_build_system_helpers import replace_in_file
+from test_build_system_helpers import run_idf_py
 
 from conftest import should_clean_test_dir
 
@@ -188,10 +189,11 @@ def test_extension_from_component(idf_py: IdfPyFunc, test_app_copy: Path) -> Non
     idf_py('reconfigure')
     ret = idf_py('--help')
     assert 'test-component-action' in ret.stdout
-    assert 'INFO: Loaded component extension from "components/test_component"' in ret.stdout
+    expected_info = f'INFO: Loaded component extension from "{os.path.join("components", "test_component")}"'
+    assert expected_info in ret.stdout
     ret = idf_py('test-component-action')
     assert 'Test extension action executed - component extension' in ret.stdout
-    assert 'INFO: Loaded component extension from "components/test_component"' in ret.stdout
+    assert expected_info in ret.stdout
 
 
 def test_extension_from_component_invalid_syntax(idf_py: IdfPyFunc, test_app_copy: Path) -> None:
@@ -242,6 +244,47 @@ def test_extension_from_component_invalid_syntax(idf_py: IdfPyFunc, test_app_cop
     assert 'Attribute "version" is required in custom extension.' in ret.stderr
 
 
+@pytest.mark.usefixtures('test_app_copy')
+def test_idf_py_help_rich_click_component_extension_panel(
+    idf_py: IdfPyFunc,
+    default_idf_env: dict[str, str],
+) -> None:
+    """Default Commands panel first; component extension gets its own panel after."""
+    idf_py('create-component', '-C', 'components', 'help_group_comp')
+    comp_dir = Path('components') / 'help_group_comp'
+    (comp_dir / 'idf_ext.py').write_text(
+        textwrap.dedent(
+            TEST_EXT_TEMPLATE.format(
+                suffix='help panel comp',
+                global_options='',
+                actions="""'help-group-comp-cmd': {
+                'callback': test_extension_action,
+                'help': 'Component extension command for help panel test'
+            }""",
+            )
+        )
+    )
+    replace_in_file(
+        Path('main') / 'CMakeLists.txt',
+        '# placeholder_inside_idf_component_register',
+        '\n'.join(['INCLUDE_DIRS "." ', 'REQUIRES "help_group_comp" ']),
+    )
+    idf_py('reconfigure')
+
+    env = {**default_idf_env, 'COLUMNS': '120', 'NO_COLOR': '1'}
+    ret = run_idf_py('--help', env=env, workdir=os.getcwd(), check=True)
+
+    idx_commands = ret.stdout.find('Commands')
+    assert idx_commands != -1, 'Root idf.py --help should list the default Commands group.'
+    idx_comp_panel = ret.stdout.find('help_group_comp', idx_commands)
+    assert idx_comp_panel != -1, 'Expected help group for the help_group_comp component extension.'
+    assert idx_comp_panel > idx_commands, 'Component extension group should appear after the default Commands group.'
+
+    # ret.stdout[i:j]: substring from index i (inclusive) to j (exclusive); ':' separates the two bounds.
+    default_block = ret.stdout[idx_commands:idx_comp_panel]
+    assert 'build' in default_block, 'Built-in `build` should still appear under the default Commands panel.'
+
+
 # ----------- Test cases for entry point extension -----------
 
 
@@ -373,6 +416,44 @@ def test_extension_entrypoint_conflicting_names(
     assert 'This global option conflicts with existing one' not in ret.stdout
 
 
+@pytest.mark.usefixtures('test_app_copy')
+def test_idf_py_help_rich_click_entrypoint_extension_panel(
+    idf_py: IdfPyFunc,
+    default_idf_env: dict[str, str],
+    extension_package_manager: ExtensionPackageManager,
+) -> None:
+    """Default Commands panel first; entry-point extension gets its own panel after."""
+    extension_package_manager.create_package('helpgroup')
+
+    env = {**default_idf_env, 'COLUMNS': '120', 'NO_COLOR': '1'}
+    ret = run_idf_py('--help', env=env, workdir=os.getcwd(), check=True)
+
+    idx_commands = ret.stdout.find('Commands')
+    assert idx_commands != -1, 'Root idf.py --help should list the default Commands group.'
+    idx_ep_panel = ret.stdout.find('test_extension_helpgroup', idx_commands)
+    assert idx_ep_panel != -1, 'Expected help group for the helpgroup entry-point extension.'
+    assert idx_ep_panel > idx_commands, 'Entry-point extension group should appear after the default Commands group.'
+
+    # ret.stdout[i:j]: substring from index i (inclusive) to j (exclusive); ':' separates the two bounds.
+    default_block = ret.stdout[idx_commands:idx_ep_panel]
+    assert 'build' in default_block, 'Built-in `build` should still appear under the default Commands panel.'
+
+
+# ----------- General extension tests -----------
+
+
+@pytest.mark.usefixtures('test_app_copy')
+def test_idf_py_subcommand_help_shows_options(
+    idf_py: IdfPyFunc,
+    default_idf_env: dict[str, str],
+) -> None:
+    """Subcommand --help must list global/action options (rich-click + default_panels_first)."""
+    idf_py('reconfigure')
+    env = {**default_idf_env, 'NO_COLOR': '1', 'COLUMNS': '120'}
+    ret = run_idf_py('flash', '--help', env=env, workdir=os.getcwd(), check=True)
+    assert '--project-dir' in ret.stdout or '-C ' in ret.stdout
+
+
 # ----------- Regression test: idf.py recursion via idf_version clause -----------
 
 
diff --git a/tools/test_idf_py/test_idf_py.py b/tools/test_idf_py/test_idf_py.py
index c1a1b064417..bd673c1a6d2 100755
--- a/tools/test_idf_py/test_idf_py.py
+++ b/tools/test_idf_py/test_idf_py.py
@@ -33,6 +33,28 @@ py_actions_path = os.path.normpath(os.path.join(current_dir, '..', 'idf_py_actio
 link_path = os.path.join(py_actions_path, 'test_ext')
 
 
+# As idf.py uses rich-click, unite modification variables to ensure constant results on various CI terminals
+_idf_py_test_env_saved: dict[str, str | None] = {}
+
+
+def setUpModule() -> None:
+    for key in ('COLUMNS', 'LINES', 'NO_COLOR', 'FORCE_COLOR', 'PY_COLORS', 'TERM'):
+        _idf_py_test_env_saved[key] = os.environ.get(key)
+    os.environ['COLUMNS'] = '200'
+    os.environ['LINES'] = '40'
+    os.environ['NO_COLOR'] = '1'
+    for unset in ('FORCE_COLOR', 'PY_COLORS'):
+        os.environ.pop(unset, None)
+
+
+def tearDownModule() -> None:
+    for key, previous in _idf_py_test_env_saved.items():
+        if previous is None:
+            os.environ.pop(key, None)
+        else:
+            os.environ[key] = previous
+
+
 class TestWithoutExtensions(TestCase):
     @classmethod
     def setUpClass(cls):