diff --git a/docs/doxygen/Doxyfile b/docs/doxygen/Doxyfile
index 7355144003..0fb7b41bef 100644
--- a/docs/doxygen/Doxyfile
+++ b/docs/doxygen/Doxyfile
@@ -159,7 +159,6 @@ INPUT = \
     $(PROJECT_PATH)/components/esp_http_server/include/esp_http_server.h \
     $(PROJECT_PATH)/components/esp_https_ota/include/esp_https_ota.h \
     $(PROJECT_PATH)/components/esp_https_server/include/esp_https_server.h \
-    $(PROJECT_PATH)/components/esp_hw_support/dma/include/esp_dma_utils.h \
     $(PROJECT_PATH)/components/esp_hw_support/include/esp_clk_tree.h \
     $(PROJECT_PATH)/components/esp_hw_support/include/esp_async_memcpy.h \
     $(PROJECT_PATH)/components/esp_hw_support/include/esp_chip_info.h \
diff --git a/docs/en/api-reference/system/mm_sync.rst b/docs/en/api-reference/system/mm_sync.rst
index 55fb9932d1..fafb5a26d1 100644
--- a/docs/en/api-reference/system/mm_sync.rst
+++ b/docs/en/api-reference/system/mm_sync.rst
@@ -101,17 +101,6 @@ There is address and size alignment requirement (in bytes) for using :cpp:func:`
 By default, if you specify an unaligned address region, :cpp:func:`esp_cache_msync` will return an :c:macro:`ESP_ERR_INVALID_ARG` error, together with the required alignment.
 
 
-Memory Allocation Helper
-------------------------
-
-cache memory synchronization is usually considered when DMA is involved. ESP-IDF provides an API to do memory allocation that can meet the alignment requirement from both the cache and the DMA.
-
-- :cpp:func:`esp_dma_capable_malloc`, this API allocates a chunk of memory that meets the alignment requirement from both the cache and the DMA.
-- :cpp:func:`esp_dma_capable_calloc`, this API allocates a chunk of memory that meets the alignment requirement from both the cache and the DMA. The initialized value in the memory is set to zero.
-
-You can also use :c:macro:`ESP_DMA_MALLOC_FLAG_PSRAM` to allocate from the PSRAM.
-
-
 Warning for Address Alignment Requirement
 -----------------------------------------
 
@@ -138,9 +127,3 @@ API Reference - ESP Msync Driver
 --------------------------------
 
 .. include-build-file:: inc/esp_cache.inc
-
-
-API Reference - ESP DMA Utils
------------------------------
-
-.. include-build-file:: inc/esp_dma_utils.inc