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 c416b3adf3..6200249da1 100644
--- a/components/esp_hw_support/include/esp_private/esp_pmu.h
+++ b/components/esp_hw_support/include/esp_private/esp_pmu.h
@@ -114,8 +114,10 @@ typedef enum {
 
 #if SOC_LP_CORE_SUPPORTED
 #define RTC_LP_CORE_TRIG_EN         PMU_LP_CORE_WAKEUP_EN   //!< LP core wakeup
+#define RTC_LP_CORE_TRAP_TRIG_EN    PMU_LP_CORE_TRAP_WAKEUP_EN   //!< LP core trap (exception) wakeup
 #else
 #define RTC_LP_CORE_TRIG_EN         0
+#define RTC_LP_CORE_TRAP_TRIG_EN    0
 #endif //SOC_LP_CORE_SUPPORTED
 
 #if SOC_LP_VAD_SUPPORTED
diff --git a/components/esp_hw_support/port/esp32c5/private_include/pmu_bit_defs.h b/components/esp_hw_support/port/esp32c5/private_include/pmu_bit_defs.h
index 390499371b..334b88c63e 100644
--- a/components/esp_hw_support/port/esp32c5/private_include/pmu_bit_defs.h
+++ b/components/esp_hw_support/port/esp32c5/private_include/pmu_bit_defs.h
@@ -20,6 +20,7 @@ extern "C" {
 #define PMU_UART1_WAKEUP_EN         BIT(7)
 #define PMU_BLE_SOC_WAKEUP_EN       BIT(10)
 #define PMU_LP_CORE_WAKEUP_EN       BIT(11)
+#define PMU_LP_CORE_TRAP_WAKEUP_EN  BIT(12)
 #define PMU_USB_WAKEUP_EN           BIT(14)
 
 #ifdef __cplusplus
diff --git a/components/esp_hw_support/port/esp32c6/private_include/pmu_bit_defs.h b/components/esp_hw_support/port/esp32c6/private_include/pmu_bit_defs.h
index df1a7fddfd..e36c152092 100644
--- a/components/esp_hw_support/port/esp32c6/private_include/pmu_bit_defs.h
+++ b/components/esp_hw_support/port/esp32c6/private_include/pmu_bit_defs.h
@@ -21,6 +21,7 @@ extern "C" {
 #define PMU_SDIO_WAKEUP_EN          BIT(8)
 #define PMU_BLE_SOC_WAKEUP_EN       BIT(10)
 #define PMU_LP_CORE_WAKEUP_EN       BIT(11)
+#define PMU_LP_CORE_TRAP_WAKEUP_EN  BIT(12)
 #define PMU_USB_WAKEUP_EN           BIT(14)
 
 #ifdef __cplusplus
diff --git a/components/esp_hw_support/sleep_modes.c b/components/esp_hw_support/sleep_modes.c
index 0b786e06e7..39d7fb5bd5 100644
--- a/components/esp_hw_support/sleep_modes.c
+++ b/components/esp_hw_support/sleep_modes.c
@@ -1052,7 +1052,7 @@ static esp_err_t SLEEP_FN_ATTR esp_sleep_start(uint32_t sleep_flags, uint32_t cl
 #elif CONFIG_ULP_COPROC_TYPE_RISCV
     if (s_config.wakeup_triggers & (RTC_COCPU_TRIG_EN | RTC_COCPU_TRAP_TRIG_EN)) {
 #elif CONFIG_ULP_COPROC_TYPE_LP_CORE
-    if (s_config.wakeup_triggers & RTC_LP_CORE_TRIG_EN) {
+    if (s_config.wakeup_triggers & (RTC_LP_CORE_TRIG_EN | RTC_LP_CORE_TRAP_TRIG_EN)) {
 #endif
 #ifdef CONFIG_IDF_TARGET_ESP32
         rtc_hal_ulp_wakeup_enable();
@@ -1752,7 +1752,11 @@ esp_err_t esp_sleep_enable_ulp_wakeup(void)
     s_config.wakeup_triggers |= (RTC_COCPU_TRIG_EN | RTC_COCPU_TRAP_TRIG_EN);
     return ESP_OK;
 #elif CONFIG_ULP_COPROC_TYPE_LP_CORE
-    s_config.wakeup_triggers |= RTC_LP_CORE_TRIG_EN;
+    #if CONFIG_ULP_TRAP_WAKEUP
+        s_config.wakeup_triggers |= RTC_LP_CORE_TRIG_EN | RTC_LP_CORE_TRAP_TRIG_EN;
+    #else
+        s_config.wakeup_triggers |= RTC_LP_CORE_TRIG_EN;
+    #endif
     return ESP_OK;
 #else
     return ESP_ERR_NOT_SUPPORTED;
@@ -2339,6 +2343,8 @@ esp_sleep_wakeup_cause_t esp_sleep_get_wakeup_cause(void)
 #if SOC_LP_CORE_SUPPORTED
     } else if (wakeup_cause & RTC_LP_CORE_TRIG_EN) {
         return ESP_SLEEP_WAKEUP_ULP;
+    } else if (wakeup_cause & RTC_LP_CORE_TRAP_TRIG_EN) {
+        return ESP_SLEEP_WAKEUP_COCPU_TRAP_TRIG;
 #endif
 #if SOC_LP_VAD_SUPPORTED
     } else if (wakeup_cause & RTC_LP_VAD_TRIG_EN) {
@@ -2427,6 +2433,9 @@ uint32_t esp_sleep_get_wakeup_causes(void)
     if (wakeup_cause_raw & RTC_LP_CORE_TRIG_EN) {
         wakeup_cause |= BIT(ESP_SLEEP_WAKEUP_ULP);
     }
+    if (wakeup_cause_raw & RTC_LP_CORE_TRAP_TRIG_EN) {
+        wakeup_cause |= BIT(ESP_SLEEP_WAKEUP_COCPU_TRAP_TRIG);
+    }
 #endif
 #if SOC_LP_VAD_SUPPORTED
     if (wakeup_cause_raw & RTC_LP_VAD_TRIG_EN) {
diff --git a/components/esp_rom/esp32c5/include/esp32c5/rom/rtc.h b/components/esp_rom/esp32c5/include/esp32c5/rom/rtc.h
index 3c5d3750b8..a1cbfccc9e 100644
--- a/components/esp_rom/esp32c5/include/esp32c5/rom/rtc.h
+++ b/components/esp_rom/esp32c5/include/esp32c5/rom/rtc.h
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2022-2024 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2022-2025 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -126,8 +126,8 @@ typedef enum {
     SAR_TRIG        = BIT9,
     BT_TRIG         = BIT10,
     RISCV_TRIG      = BIT11,
-    XTAL_DEAD_TRIG  = BIT12,
-    RISCV_TRAP_TRIG = BIT13,
+    RISCV_TRAP_TRIG = BIT12,
+    XTAL_DEAD_TRIG  = BIT13,
     USB_TRIG        = BIT14
 } WAKEUP_REASON;
 
@@ -144,8 +144,8 @@ typedef enum {
     SAR_TRIG_EN        = SAR_TRIG,
     BT_TRIG_EN         = BT_TRIG,
     RISCV_TRIG_EN      = RISCV_TRIG,
-    XTAL_DEAD_TRIG_EN  = XTAL_DEAD_TRIG,
     RISCV_TRAP_TRIG_EN = RISCV_TRAP_TRIG,
+    XTAL_DEAD_TRIG_EN  = XTAL_DEAD_TRIG,
     USB_TRIG_EN        = USB_TRIG
 } WAKEUP_ENABLE;
 
diff --git a/components/esp_rom/esp32c6/include/esp32c6/rom/rtc.h b/components/esp_rom/esp32c6/include/esp32c6/rom/rtc.h
index a94fd96c88..70a868df41 100644
--- a/components/esp_rom/esp32c6/include/esp32c6/rom/rtc.h
+++ b/components/esp_rom/esp32c6/include/esp32c6/rom/rtc.h
@@ -131,8 +131,8 @@ typedef enum {
     SAR_TRIG        = BIT9,
     BT_TRIG         = BIT10,
     RISCV_TRIG      = BIT11,
-    XTAL_DEAD_TRIG  = BIT12,
-    RISCV_TRAP_TRIG = BIT13,
+    RISCV_TRAP_TRIG = BIT12,
+    XTAL_DEAD_TRIG  = BIT13,
     USB_TRIG        = BIT14
 } WAKEUP_REASON;
 
@@ -150,8 +150,8 @@ typedef enum {
     SAR_TRIG_EN        = SAR_TRIG,
     BT_TRIG_EN         = BT_TRIG,
     RISCV_TRIG_EN      = RISCV_TRIG,
-    XTAL_DEAD_TRIG_EN  = XTAL_DEAD_TRIG,
     RISCV_TRAP_TRIG_EN = RISCV_TRAP_TRIG,
+    XTAL_DEAD_TRIG_EN  = XTAL_DEAD_TRIG,
     USB_TRIG_EN        = USB_TRIG
 } WAKEUP_ENABLE;
 
diff --git a/components/ulp/Kconfig b/components/ulp/Kconfig
index f4728ad835..2fbb436130 100644
--- a/components/ulp/Kconfig
+++ b/components/ulp/Kconfig
@@ -92,12 +92,21 @@ menu "Ultra Low Power (ULP) Co-processor"
             Note: For LP ROM prints to work properly, make sure that the LP core boots
             from the LP ROM.
 
+    config ULP_TRAP_WAKEUP
+        depends on ULP_COPROC_TYPE_LP_CORE
+        bool
+        prompt "Enable wakeup of HP-CPU when LP-core encounters an exception"
+        default "y"
+        help
+            Set this option to also trigger a wakeup signal to the HP-CPU when
+            the LP-core encounters an exception.
+
     menu "ULP Debugging Options"
         config ULP_PANIC_OUTPUT_ENABLE
             depends on ULP_COPROC_TYPE_LP_CORE && SOC_ULP_LP_UART_SUPPORTED
             bool
             prompt "Enable panic handler which outputs over LP UART"
-            default "y" if SOC_LP_CORE_SUPPORT_STORE_LOAD_EXCEPTIONS
+            default "n"
             help
                 Set this option to enable panic handler functionality. If this option is
                 enabled then the LP Core will output a panic dump over LP UART,
diff --git a/components/ulp/test_apps/lp_core/lp_core_basic_tests/main/CMakeLists.txt b/components/ulp/test_apps/lp_core/lp_core_basic_tests/main/CMakeLists.txt
index b15fe5c4a5..2c9e9222f2 100644
--- a/components/ulp/test_apps/lp_core/lp_core_basic_tests/main/CMakeLists.txt
+++ b/components/ulp/test_apps/lp_core/lp_core_basic_tests/main/CMakeLists.txt
@@ -100,3 +100,5 @@ endif()
 
 ulp_embed_binary(lp_core_test_app_prefix1 "lp_core/test_main_prefix1.c"  "${lp_core_exp_dep_srcs}" PREFIX "ulp1_")
 ulp_embed_binary(lp_core_test_app_prefix2 "lp_core/test_main_prefix2.c"  "${lp_core_exp_dep_srcs}" PREFIX "ulp2_")
+
+ulp_embed_binary(lp_core_test_app_exception "lp_core/test_main_exception.c" "${lp_core_exp_dep_srcs}")
diff --git a/components/ulp/test_apps/lp_core/lp_core_basic_tests/main/lp_core/test_main_exception.c b/components/ulp/test_apps/lp_core/lp_core_basic_tests/main/lp_core/test_main_exception.c
new file mode 100644
index 0000000000..fc6b14ad0a
--- /dev/null
+++ b/components/ulp/test_apps/lp_core/lp_core_basic_tests/main/lp_core/test_main_exception.c
@@ -0,0 +1,10 @@
+/*
+ * SPDX-FileCopyrightText: 2025 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+int main(void)
+{
+    asm volatile("unimp");
+}
diff --git a/components/ulp/test_apps/lp_core/lp_core_basic_tests/main/test_lp_core.c b/components/ulp/test_apps/lp_core/lp_core_basic_tests/main/test_lp_core.c
index 8de43884c4..74d3db790f 100644
--- a/components/ulp/test_apps/lp_core/lp_core_basic_tests/main/test_lp_core.c
+++ b/components/ulp/test_apps/lp_core/lp_core_basic_tests/main/test_lp_core.c
@@ -46,6 +46,9 @@ extern const uint8_t lp_core_main_gpio_bin_end[]   asm("_binary_lp_core_test_app
 extern const uint8_t lp_core_main_isr_bin_start[] asm("_binary_lp_core_test_app_isr_bin_start");
 extern const uint8_t lp_core_main_isr_bin_end[]   asm("_binary_lp_core_test_app_isr_bin_end");
 
+extern const uint8_t lp_core_main_exception_bin_start[] asm("_binary_lp_core_test_app_exception_bin_start");
+extern const uint8_t lp_core_main_exception_bin_end[]   asm("_binary_lp_core_test_app_exception_bin_end");
+
 static void load_and_start_lp_core_firmware(ulp_lp_core_cfg_t* cfg, const uint8_t* firmware_start, const uint8_t* firmware_end)
 {
     TEST_ASSERT(ulp_lp_core_load_binary(firmware_start,
@@ -383,3 +386,32 @@ TEST_CASE("LP core ISR tests", "[ulp]")
     TEST_ASSERT_EQUAL(ISR_TEST_ITERATIONS, ulp_io_isr_counter);
 #endif //SOC_RTCIO_PIN_COUNT > 0
 }
+
+#if SOC_DEEP_SLEEP_SUPPORTED
+
+void lp_core_prep_exception_wakeup(void)
+{
+    /* Load ULP firmware and start the coprocessor */
+    ulp_lp_core_cfg_t cfg = {
+        .wakeup_source = ULP_LP_CORE_WAKEUP_SOURCE_HP_CPU,
+    };
+
+    load_and_start_lp_core_firmware(&cfg, lp_core_main_exception_bin_start, lp_core_main_exception_bin_end);
+
+    TEST_ASSERT(esp_sleep_enable_ulp_wakeup() == ESP_OK);
+    /* Setup test data */
+
+    /* Enter Deep Sleep */
+    esp_deep_sleep_start();
+}
+
+static void check_reset_reason_ulp_trap_wakeup(void)
+{
+    printf("Wakeup cause: 0x%"PRIx32"\n", esp_sleep_get_wakeup_causes());
+    TEST_ASSERT(esp_sleep_get_wakeup_causes() & BIT(ESP_SLEEP_WAKEUP_COCPU_TRAP_TRIG));
+}
+
+TEST_CASE_MULTIPLE_STAGES("LP-core exception can wakeup main cpu", "[ulp]",
+                          lp_core_prep_exception_wakeup,
+                          check_reset_reason_ulp_trap_wakeup);
+#endif //SOC_DEEP_SLEEP_SUPPORTED
diff --git a/components/ulp/test_apps/lp_core/lp_core_basic_tests/sdkconfig.ci.defaults b/components/ulp/test_apps/lp_core/lp_core_basic_tests/sdkconfig.ci.defaults
index c7626f4733..79776d7ef1 100644
--- a/components/ulp/test_apps/lp_core/lp_core_basic_tests/sdkconfig.ci.defaults
+++ b/components/ulp/test_apps/lp_core/lp_core_basic_tests/sdkconfig.ci.defaults
@@ -3,4 +3,3 @@ CONFIG_ESP_TASK_WDT_INIT=n
 CONFIG_ULP_COPROC_ENABLED=y
 CONFIG_ULP_COPROC_TYPE_LP_CORE=y
 CONFIG_ULP_COPROC_RESERVE_MEM=12000
-CONFIG_ULP_PANIC_OUTPUT_ENABLE=y
diff --git a/components/ulp/test_apps/lp_core/lp_core_basic_tests/sdkconfig.defaults b/components/ulp/test_apps/lp_core/lp_core_basic_tests/sdkconfig.defaults
index c7626f4733..79776d7ef1 100644
--- a/components/ulp/test_apps/lp_core/lp_core_basic_tests/sdkconfig.defaults
+++ b/components/ulp/test_apps/lp_core/lp_core_basic_tests/sdkconfig.defaults
@@ -3,4 +3,3 @@ CONFIG_ESP_TASK_WDT_INIT=n
 CONFIG_ULP_COPROC_ENABLED=y
 CONFIG_ULP_COPROC_TYPE_LP_CORE=y
 CONFIG_ULP_COPROC_RESERVE_MEM=12000
-CONFIG_ULP_PANIC_OUTPUT_ENABLE=y
diff --git a/docs/en/migration-guides/release-6.x/6.0/system.rst b/docs/en/migration-guides/release-6.x/6.0/system.rst
index 2472d7acbf..354f377f10 100644
--- a/docs/en/migration-guides/release-6.x/6.0/system.rst
+++ b/docs/en/migration-guides/release-6.x/6.0/system.rst
@@ -235,3 +235,8 @@ System Console (STDIO)
 
 ``esp_vfs_cdcacm.h`` has been moved to the new component ``esp_usb_cdc_rom_console``, you will now have to add an explicit ``REQUIRES`` for ``esp_usb_cdc_rom_console`` if using any functions from this header.
 
+ULP
+---
+
+The LP-Core will now wake-up the main CPU when it encounters an exception during deep sleep. This feature is enabled by default but can be disabled via the :ref:`CONFIG_ULP_TRAP_WAKEUP` Kconfig option is this behavior is not desired.
+