diff --git a/components/lwip/Kconfig b/components/lwip/Kconfig
index 39cb3e25ee..7d331bf9f9 100644
--- a/components/lwip/Kconfig
+++ b/components/lwip/Kconfig
@@ -848,55 +848,68 @@ menu "LWIP"
 
     endmenu # Hooks
 
-    menu "Debug"
+    menuconfig LWIP_DEBUG
+        bool "Enable LWIP Debug"
+        default n
 
-        config LWIP_NETIF_DEBUG
-            bool "Enable netif debug messages"
-            default n
+    config LWIP_NETIF_DEBUG
+        bool "Enable netif debug messages"
+        depends on LWIP_DEBUG
+        default n
 
-        config LWIP_PBUF_DEBUG
-            bool "Enable pbuf debug messages"
-            default n
+    config LWIP_PBUF_DEBUG
+        bool "Enable pbuf debug messages"
+        depends on LWIP_DEBUG
+        default n
 
-        config LWIP_ETHARP_DEBUG
-            bool "Enable etharp debug messages"
-            default n
+    config LWIP_ETHARP_DEBUG
+        bool "Enable etharp debug messages"
+        depends on LWIP_DEBUG
+        default n
 
-        config LWIP_API_LIB_DEBUG
-            bool "Enable api lib debug messages"
-            default n
+    config LWIP_API_LIB_DEBUG
+        bool "Enable api lib debug messages"
+        depends on LWIP_DEBUG
+        default n
 
-        config LWIP_SOCKETS_DEBUG
-            bool "Enable socket debug messages"
-            default n
+    config LWIP_SOCKETS_DEBUG
+        bool "Enable socket debug messages"
+        depends on LWIP_DEBUG
+        default n
 
-        config LWIP_IP_DEBUG
-            bool "Enable IP debug messages"
-            default n
+    config LWIP_IP_DEBUG
+        bool "Enable IP debug messages"
+        depends on LWIP_DEBUG
+        default n
 
-        config LWIP_ICMP_DEBUG
-            bool "Enable ICMP debug messages"
-            default n
+    config LWIP_ICMP_DEBUG
+        bool "Enable ICMP debug messages"
+        depends on LWIP_DEBUG
+        default n
 
-        config LWIP_DHCP_STATE_DEBUG
-            bool "Enable DHCP state tracking"
-            default n
+    config LWIP_DHCP_STATE_DEBUG
+        bool "Enable DHCP state tracking"
+        depends on LWIP_DEBUG
+        default n
 
-        config LWIP_DHCP_DEBUG
-            bool "Enable DHCP debug messages"
-            default n
+    config LWIP_DHCP_DEBUG
+        bool "Enable DHCP debug messages"
+        depends on LWIP_DEBUG
+        default n
 
-        config LWIP_IP6_DEBUG
-            bool "Enable IP6 debug messages"
-            default n
+    config LWIP_IP6_DEBUG
+        bool "Enable IP6 debug messages"
+        depends on LWIP_DEBUG
+        default n
 
-        config LWIP_ICMP6_DEBUG
-            bool "Enable ICMP6 debug messages"
-            default n
+    config LWIP_ICMP6_DEBUG
+        bool "Enable ICMP6 debug messages"
+        depends on LWIP_DEBUG
+        default n
 
-        config LWIP_TCP_DEBUG
-            bool "Enable TCP debug messages"
-            default n
+    config LWIP_TCP_DEBUG
+        bool "Enable TCP debug messages"
+        depends on LWIP_DEBUG
+        default n
 
-    endmenu #debug
 endmenu
diff --git a/components/lwip/port/esp32/include/lwipopts.h b/components/lwip/port/esp32/include/lwipopts.h
index 2166da1b6b..c10a289cdd 100644
--- a/components/lwip/port/esp32/include/lwipopts.h
+++ b/components/lwip/port/esp32/include/lwipopts.h
@@ -991,7 +991,11 @@
 /**
  * LWIP_DEBUG: Enable lwip debugging in other modules.
  */
-#define LWIP_DEBUG                      LWIP_DBG_OFF
+#ifdef CONFIG_LWIP_DEBUG
+#define LWIP_DEBUG                      LWIP_DBG_ON
+#else
+#undef LWIP_DEBUG
+#endif
 
 #define CHECKSUM_CHECK_UDP              CONFIG_LWIP_CHECKSUM_CHECK_UDP
 #define CHECKSUM_CHECK_IP               CONFIG_LWIP_CHECKSUM_CHECK_IP