diff --git a/components/esp_hw_support/dma/gdma.c b/components/esp_hw_support/dma/gdma.c
index 1d55e466d5..0cbd5ae455 100644
--- a/components/esp_hw_support/dma/gdma.c
+++ b/components/esp_hw_support/dma/gdma.c
@@ -359,6 +359,24 @@ err:
     return ret;
 }
 
+esp_err_t gdma_set_priority(gdma_channel_handle_t dma_chan, uint32_t priority)
+{
+    gdma_pair_t *pair = NULL;
+    gdma_group_t *group = NULL;
+    ESP_RETURN_ON_FALSE(dma_chan && priority <= GDMA_LL_CHANNEL_MAX_PRIORITY, ESP_ERR_INVALID_ARG, TAG, "invalid argument");
+    pair = dma_chan->pair;
+    group = pair->group;
+
+    if (dma_chan->direction == GDMA_CHANNEL_DIRECTION_TX) {
+        gdma_ll_tx_set_priority(group->hal.dev, pair->pair_id, priority);
+    } else {
+        gdma_ll_rx_set_priority(group->hal.dev, pair->pair_id, priority);
+    }
+
+    return ESP_OK;
+
+}
+
 esp_err_t gdma_register_tx_event_callbacks(gdma_channel_handle_t dma_chan, gdma_tx_event_callbacks_t *cbs, void *user_data)
 {
     esp_err_t ret = ESP_OK;
@@ -651,6 +669,8 @@ static esp_err_t gdma_del_tx_channel(gdma_channel_t *dma_channel)
         ESP_LOGD(TAG, "uninstall interrupt service for tx channel (%d,%d)", group_id, pair_id);
     }
 
+    gdma_ll_tx_set_priority(group->hal.dev, pair_id, 0); // reset the priority to 0 (lowest)
+
     free(tx_chan);
     ESP_LOGD(TAG, "del tx channel (%d,%d)", group_id, pair_id);
     // channel has a reference on pair, release it now
@@ -679,6 +699,8 @@ static esp_err_t gdma_del_rx_channel(gdma_channel_t *dma_channel)
         ESP_LOGD(TAG, "uninstall interrupt service for rx channel (%d,%d)", group_id, pair_id);
     }
 
+    gdma_ll_rx_set_priority(group->hal.dev, pair_id, 0); // reset the priority to 0 (lowest)
+
     free(rx_chan);
     ESP_LOGD(TAG, "del rx channel (%d,%d)", group_id, pair_id);
     gdma_release_pair_handle(pair);
diff --git a/components/esp_hw_support/include/esp_private/gdma.h b/components/esp_hw_support/include/esp_private/gdma.h
index d71f3c6fc8..08c3f8f688 100644
--- a/components/esp_hw_support/include/esp_private/gdma.h
+++ b/components/esp_hw_support/include/esp_private/gdma.h
@@ -177,14 +177,28 @@ esp_err_t gdma_set_transfer_ability(gdma_channel_handle_t dma_chan, const gdma_t
 /**
  * @brief Apply channel strategy for GDMA channel
  *
- * @param dma_chan GDMA channel handle, allocated by `gdma_new_channel`
- * @param config Configuration of GDMA channel strategy
+ * @param[in] dma_chan GDMA channel handle, allocated by `gdma_new_channel`
+ * @param[in] config Configuration of GDMA channel strategy
  *      - ESP_OK: Apply channel strategy successfully
  *      - ESP_ERR_INVALID_ARG: Apply channel strategy failed because of invalid argument
  *      - ESP_FAIL: Apply channel strategy failed because of other error
  */
 esp_err_t gdma_apply_strategy(gdma_channel_handle_t dma_chan, const gdma_strategy_config_t *config);
 
+/**
+ * @brief Set GDMA channel priority
+ *
+ * @note By default, all GDMA channels are with the same priority: 0. Channels with the same priority are served in round-robin manner.
+ *
+ * @param[in] dma_chan GDMA channel handle, allocated by `gdma_new_channel`
+ * @param[in] priority Priority of GDMA channel, higher value means higher priority
+ * @return
+ *      - ESP_OK: Set GDMA channel priority successfully
+ *      - ESP_ERR_INVALID_ARG: Set GDMA channel priority failed because of invalid argument, e.g. priority out of range [0,GDMA_LL_CHANNEL_MAX_PRIORITY]
+ *      - ESP_FAIL: Set GDMA channel priority failed because of other error
+ */
+esp_err_t gdma_set_priority(gdma_channel_handle_t dma_chan, uint32_t priority);
+
 /**
  * @brief Delete GDMA channel
  * @note If you call `gdma_new_channel` several times for a same peripheral, make sure you call this API the same times.
diff --git a/components/hal/esp32c2/include/hal/gdma_ll.h b/components/hal/esp32c2/include/hal/gdma_ll.h
index 639309f972..966e7836f0 100644
--- a/components/hal/esp32c2/include/hal/gdma_ll.h
+++ b/components/hal/esp32c2/include/hal/gdma_ll.h
@@ -18,6 +18,8 @@ extern "C" {
 
 #define GDMA_LL_GET_HW(id) (((id) == 0) ? (&GDMA) : NULL)
 
+#define GDMA_LL_CHANNEL_MAX_PRIORITY 5 // supported priority levels: [0,5]
+
 #define GDMA_LL_RX_EVENT_MASK       (0x06A7)
 #define GDMA_LL_TX_EVENT_MASK       (0x1958)
 
diff --git a/components/hal/esp32c3/include/hal/gdma_ll.h b/components/hal/esp32c3/include/hal/gdma_ll.h
index 617b118f21..3ccb5a0fac 100644
--- a/components/hal/esp32c3/include/hal/gdma_ll.h
+++ b/components/hal/esp32c3/include/hal/gdma_ll.h
@@ -18,6 +18,8 @@ extern "C" {
 
 #define GDMA_LL_GET_HW(id) (((id) == 0) ? (&GDMA) : NULL)
 
+#define GDMA_LL_CHANNEL_MAX_PRIORITY 5 // supported priority levels: [0,5]
+
 #define GDMA_LL_RX_EVENT_MASK       (0x06A7)
 #define GDMA_LL_TX_EVENT_MASK       (0x1958)
 
diff --git a/components/hal/esp32c6/include/hal/gdma_ll.h b/components/hal/esp32c6/include/hal/gdma_ll.h
index 21c55bfdad..57969ca513 100644
--- a/components/hal/esp32c6/include/hal/gdma_ll.h
+++ b/components/hal/esp32c6/include/hal/gdma_ll.h
@@ -19,6 +19,8 @@ extern "C" {
 
 #define GDMA_LL_GET_HW(id) (((id) == 0) ? (&GDMA) : NULL)
 
+#define GDMA_LL_CHANNEL_MAX_PRIORITY 5 // supported priority levels: [0,5]
+
 #define GDMA_LL_RX_EVENT_MASK       (0x7F)
 #define GDMA_LL_TX_EVENT_MASK       (0x3F)
 
diff --git a/components/hal/esp32h2/include/hal/gdma_ll.h b/components/hal/esp32h2/include/hal/gdma_ll.h
index 21c55bfdad..57969ca513 100644
--- a/components/hal/esp32h2/include/hal/gdma_ll.h
+++ b/components/hal/esp32h2/include/hal/gdma_ll.h
@@ -19,6 +19,8 @@ extern "C" {
 
 #define GDMA_LL_GET_HW(id) (((id) == 0) ? (&GDMA) : NULL)
 
+#define GDMA_LL_CHANNEL_MAX_PRIORITY 5 // supported priority levels: [0,5]
+
 #define GDMA_LL_RX_EVENT_MASK       (0x7F)
 #define GDMA_LL_TX_EVENT_MASK       (0x3F)
 
diff --git a/components/hal/esp32h4/include/hal/gdma_ll.h b/components/hal/esp32h4/include/hal/gdma_ll.h
index 617b118f21..3ccb5a0fac 100644
--- a/components/hal/esp32h4/include/hal/gdma_ll.h
+++ b/components/hal/esp32h4/include/hal/gdma_ll.h
@@ -18,6 +18,8 @@ extern "C" {
 
 #define GDMA_LL_GET_HW(id) (((id) == 0) ? (&GDMA) : NULL)
 
+#define GDMA_LL_CHANNEL_MAX_PRIORITY 5 // supported priority levels: [0,5]
+
 #define GDMA_LL_RX_EVENT_MASK       (0x06A7)
 #define GDMA_LL_TX_EVENT_MASK       (0x1958)
 
diff --git a/components/hal/esp32s3/include/hal/gdma_ll.h b/components/hal/esp32s3/include/hal/gdma_ll.h
index 2fc7029303..88ca2b91c4 100644
--- a/components/hal/esp32s3/include/hal/gdma_ll.h
+++ b/components/hal/esp32s3/include/hal/gdma_ll.h
@@ -18,6 +18,8 @@ extern "C" {
 
 #define GDMA_LL_GET_HW(id) (((id) == 0) ? (&GDMA) : NULL)
 
+#define GDMA_LL_CHANNEL_MAX_PRIORITY 5 // supported priority levels: [0,5]
+
 #define GDMA_LL_RX_EVENT_MASK        (0x3FF)
 #define GDMA_LL_TX_EVENT_MASK        (0xFF)