diff --git a/components/soc/esp32s31/include/soc/Kconfig.soc_caps.in b/components/soc/esp32s31/include/soc/Kconfig.soc_caps.in
index 27dfec13fc5..2afae585093 100644
--- a/components/soc/esp32s31/include/soc/Kconfig.soc_caps.in
+++ b/components/soc/esp32s31/include/soc/Kconfig.soc_caps.in
@@ -107,6 +107,10 @@ config SOC_USB_OTG_SUPPORTED
     bool
     default y
 
+config SOC_USB_DFU_SUPPORTED
+    bool
+    default y
+
 config SOC_TEMP_SENSOR_SUPPORTED
     bool
     default y
diff --git a/components/soc/esp32s31/include/soc/soc_caps.h b/components/soc/esp32s31/include/soc/soc_caps.h
index 30b88f16ded..67974f65d62 100644
--- a/components/soc/esp32s31/include/soc/soc_caps.h
+++ b/components/soc/esp32s31/include/soc/soc_caps.h
@@ -49,6 +49,7 @@
 #define SOC_PARLIO_LCD_SUPPORTED        1
 #define SOC_ASYNC_MEMCPY_SUPPORTED      1
 #define SOC_USB_OTG_SUPPORTED           1
+#define SOC_USB_DFU_SUPPORTED           1
 #define SOC_TEMP_SENSOR_SUPPORTED       1
 #define SOC_USB_SERIAL_JTAG_SUPPORTED   1
 // #define SOC_SUPPORTS_SECURE_DL_MODE     1      // TODO: [ESP32S31] IDF-14629
diff --git a/docs/en/api-guides/dfu.rst b/docs/en/api-guides/dfu.rst
index e599352c90a..7023c0cd35b 100644
--- a/docs/en/api-guides/dfu.rst
+++ b/docs/en/api-guides/dfu.rst
@@ -29,7 +29,7 @@ Device Firmware Upgrade (DFU) is a mechanism for upgrading the firmware of {IDF_
 USB Connection
 --------------
 
-.. only:: esp32p4
+.. only:: esp32p4 or esp32s31
 
     {IDF_TARGET_NAME} routes the USB D+ and D- signals to their dedicated pins. For USB device functionality, these pins must be connected to the USB bus (e.g., via a Micro-B port, USB-C port, or directly to standard-A plug).
 
@@ -161,7 +161,7 @@ Common Errors and Known Issues
 
 - The reason for ``No DFU capable USB device available`` could be that the USB driver was not properly installed on Windows (see :ref:`api_guide_dfu_flash_win`), udev rule was not setup on Linux (see :ref:`api_guide_dfu_flash_udev`) or the device is not in bootloader mode.
 
-- Flashing with ``dfu-util`` on Windows fails on the first attempt with error ``Lost device after RESET?``. Please retry the flashing and it should succeed the next time.
+- Flashing with ``dfu-util`` on Windows or macOS may fail on the first attempt with error ``Lost device after RESET?``. ``idf.py dfu-flash`` retries once automatically. If flashing still fails, run ``idf.py dfu-flash`` again manually.
 
 
 .. only:: SOC_SUPPORTS_SECURE_DL_MODE
diff --git a/docs/zh_CN/api-guides/dfu.rst b/docs/zh_CN/api-guides/dfu.rst
index a45d5c093a9..cce679078c7 100644
--- a/docs/zh_CN/api-guides/dfu.rst
+++ b/docs/zh_CN/api-guides/dfu.rst
@@ -29,7 +29,7 @@
 USB 连接
 --------------
 
-.. only:: esp32p4
+.. only:: esp32p4 or esp32s31
 
     {IDF_TARGET_NAME} 将 USB D+ 和 D- 信号连接到其专用引脚。为了实现 USB 设备功能，这些引脚必须连接到 USB 总线，如，通过 Micro-B 接口、USB-C 接口进行连接，或直接连接到标准 A 型插头。
 
@@ -161,7 +161,7 @@ Zadig 工具可能会检测到 {IDF_TARGET_NAME} 的多个 USB 接口。请 **
 
 - 出现 ``No DFU capable USB device available`` 错误的原因可能是在 Windows 上没有正确安装 USB 驱动程序（请参考 :ref:`api_guide_dfu_flash_win`），或是未在 Linux 上设置 Udev 规则（请参考 :ref:`api_guide_dfu_flash_udev`），或是设备未处于引导加载程序模式。
 
-- 在 Windows 上使用 ``dfu-util`` 第一次烧录失败，并出现 ``Lost device after RESET?`` 错误信息。出现此问题时，请重新烧录一次，再次烧录应该会成功。
+- 在 Windows 或 macOS 上使用 ``dfu-util`` 第一次烧录可能失败，并出现 ``Lost device after RESET?`` 错误信息。``idf.py dfu-flash`` 会自动重试一次。如果仍然失败，请手动再次运行 ``idf.py dfu-flash``。
 
 
 .. only:: SOC_SUPPORTS_SECURE_DL_MODE
diff --git a/tools/cmake/dfu.cmake b/tools/cmake/dfu.cmake
index 68dfa5f3210..fcafeb7930b 100644
--- a/tools/cmake/dfu.cmake
+++ b/tools/cmake/dfu.cmake
@@ -25,10 +25,10 @@ function(__add_dfu_targets)
         return()
     elseif("${target}" STREQUAL "esp32h4")
         return()
-    elseif("${target}" STREQUAL "esp32s31")
-        return()
     elseif("${target}" STREQUAL "esp32p4")
         set(dfu_pid "12")
+    elseif("${target}" STREQUAL "esp32s31")
+        set(dfu_pid "20")
     elseif("${target}" STREQUAL "linux")
         return()
     else()
diff --git a/tools/cmake/run_dfu_util.cmake b/tools/cmake/run_dfu_util.cmake
index 49113030c4b..967ce182580 100644
--- a/tools/cmake/run_dfu_util.cmake
+++ b/tools/cmake/run_dfu_util.cmake
@@ -23,6 +23,13 @@ endif()
 message("Command list: ${CMD}")
 execute_process(COMMAND ${CMD} RESULT_VARIABLE result)
 
+# dfu-util may fail on the first attempt while switching from runtime to DFU mode,
+# e.g. with "Lost device after RESET?" on Windows/macOS. Retry once.
+if(${result} AND NOT ${ESP_DFU_LIST})
+    message(WARNING "${TOOL} failed, retrying once...")
+    execute_process(COMMAND ${CMD} RESULT_VARIABLE result)
+endif()
+
 if(${result})
     message(FATAL_ERROR "${TOOL} failed")
 endif()
diff --git a/tools/cmakev2/dfu.cmake b/tools/cmakev2/dfu.cmake
index c1dc96a1065..7b1d116b8b2 100644
--- a/tools/cmakev2/dfu.cmake
+++ b/tools/cmakev2/dfu.cmake
@@ -65,6 +65,8 @@ function(idf_create_dfu binary)
         set(dfu_pid "9")
     elseif("${target}" STREQUAL "esp32p4")
         set(dfu_pid "12")
+    elseif("${target}" STREQUAL "esp32s31")
+        set(dfu_pid "20")
     else()
         # DFU not supported on this target
         idf_msg("DFU not supported on ${target}, skipping DFU target creation")