diff --git a/CHANGELOG.md b/CHANGELOG.md
index c1506bcbe..03e96a976 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -61,6 +61,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/spec/v2.0.0.
 - HIDS Client: use error code instead of ATT status in connected event
 - Device Information Service Server: update for v1.2
 - Device Information Service Client: update for v1.2
+- esp32: enable audio driver by default on esp32, esp32c3 and esp32c6
 
 ## Release v1.6.1
 
diff --git a/port/esp32/components/btstack/Kconfig b/port/esp32/components/btstack/Kconfig
index 4038ec213..5f7796916 100644
--- a/port/esp32/components/btstack/Kconfig
+++ b/port/esp32/components/btstack/Kconfig
@@ -2,8 +2,12 @@ menu "BTstack Configuration"
 
 config BTSTACK_AUDIO
     bool "I2S Audio driver"
-    default y
+    default y if CONFIG_IDF_TARGET_ESP32
+    default y if CONFIG_IDF_TARGET_ESP32C3
+    default y if CONFIG_IDF_TARGET_ESP32S3
+    default n
     help
-        Select this option to enable BTstack's default audio driver
+        Select this option to enable BTstack's audio driver
+        Enabled by default on ESP32, ESP32-C3 AND ESP32-S3
 
 endmenu