diff --git a/tools/cmake/toolchain-clang-esp32s3.cmake b/tools/cmake/toolchain-clang-esp32s3.cmake
new file mode 100644
index 0000000000..bb9da7c157
--- /dev/null
+++ b/tools/cmake/toolchain-clang-esp32s3.cmake
@@ -0,0 +1,32 @@
+include($ENV{IDF_PATH}/tools/cmake/utilities.cmake)
+
+set(CMAKE_SYSTEM_NAME Generic)
+
+set(CMAKE_C_COMPILER clang)
+set(CMAKE_CXX_COMPILER clang++)
+set(CMAKE_ASM_COMPILER clang)
+
+set(CMAKE_AR xtensa-esp32-elf-ar)
+set(CMAKE_RANLIB xtensa-esp32-elf-gcc-ranlib)
+set(CMAKE_OBJDUMP xtensa-esp32-elf-objdump)
+
+# -freestanding is a hack to force Clang to use its own stdatomic.h,
+# without falling back to the (incompatible) GCC stdatomic.h
+# https://github.com/espressif/llvm-project/blob/d9341b81/clang/lib/Headers/stdatomic.h#L13-L18
+remove_duplicated_flags("--target=xtensa -mcpu=esp32s3 -ffreestanding ${CMAKE_C_FLAGS}"
+                        UNIQ_CMAKE_C_FLAGS)
+set(CMAKE_C_FLAGS "${UNIQ_CMAKE_C_FLAGS}"
+    CACHE STRING "C Compiler Base Flags"
+    FORCE)
+
+remove_duplicated_flags("--target=xtensa -mcpu=esp32s3 -ffreestanding ${CMAKE_CXX_FLAGS}"
+                        UNIQ_CMAKE_CXX_FLAGS)
+set(CMAKE_CXX_FLAGS "${UNIQ_CMAKE_CXX_FLAGS}"
+    CACHE STRING "C++ Compiler Base Flags"
+    FORCE)
+
+remove_duplicated_flags("--target=xtensa -mcpu=esp32s3 ${CMAKE_ASM_FLAGS}"
+                        UNIQ_CMAKE_ASM_FLAGS)
+set(CMAKE_ASM_FLAGS "${UNIQ_CMAKE_ASM_FLAGS}"
+    CACHE STRING "Assembler Base Flags"
+    FORCE)