diff --git a/components/heap/test_apps/heap_tests/main/CMakeLists.txt b/components/heap/test_apps/heap_tests/main/CMakeLists.txt
index 9e9d865371..0ed19610ce 100644
--- a/components/heap/test_apps/heap_tests/main/CMakeLists.txt
+++ b/components/heap/test_apps/heap_tests/main/CMakeLists.txt
@@ -7,7 +7,8 @@ set(src_test "test_heap_main.c"
              "test_malloc_caps.c"
              "test_malloc.c"
              "test_realloc.c"
-             "test_runtime_heap_reg.c")
+             "test_runtime_heap_reg.c"
+             "test_task_tracking.c")
 
 idf_component_register(SRCS ${src_test}
                        INCLUDE_DIRS "."
diff --git a/components/heap/test_apps/heap_tests/main/test_task_tracking.c b/components/heap/test_apps/heap_tests/main/test_task_tracking.c
new file mode 100644
index 0000000000..99215969dc
--- /dev/null
+++ b/components/heap/test_apps/heap_tests/main/test_task_tracking.c
@@ -0,0 +1,98 @@
+/*
+ * SPDX-FileCopyrightText: 2022-2023 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Unlicense OR CC0-1.0
+ */
+#include "unity.h"
+#include "stdio.h"
+
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "esp_heap_caps.h"
+#include "esp_heap_task_info.h"
+
+// This test only apply when task tracking is enabled
+#if defined(CONFIG_HEAP_TASK_TRACKING)
+
+#define MAX_TASK_NUM 10  // Max number of per tasks info that it can store
+#define MAX_BLOCK_NUM 10  // Max number of per block info that it can store
+#define ALLOC_BYTES 36
+
+static void check_heap_task_info(TaskHandle_t taskHdl)
+{
+    size_t num_totals = 0;
+    heap_task_totals_t s_totals_arr[MAX_TASK_NUM];
+    heap_task_block_t s_block_arr[MAX_BLOCK_NUM];
+
+    heap_task_info_params_t heap_info = {0};
+    heap_info.caps[0] = MALLOC_CAP_32BIT;       // Gets heap info with CAP_32BIT capabilities
+    heap_info.mask[0] = MALLOC_CAP_32BIT;
+    heap_info.tasks = NULL;                     // Passing NULL captures heap info for all tasks
+    heap_info.num_tasks = 0;
+    heap_info.totals = s_totals_arr;            // Gets task wise allocation details
+    heap_info.num_totals = &num_totals;
+    heap_info.max_totals = MAX_TASK_NUM;        // Maximum length of "s_totals_arr"
+    heap_info.blocks = s_block_arr;             // Gets block wise allocation details. For each block, gets owner task, address and size
+    heap_info.max_blocks = MAX_BLOCK_NUM;       // Maximum length of "s_block_arr"
+
+    heap_caps_get_per_task_info(&heap_info);
+
+    bool task_found = false;
+    for (int i = 0 ; i < *heap_info.num_totals; i++) {
+        // the prescheduler allocs and free are stored as a
+        // task with a handle set to 0, avoid calling pcTaskGetName
+        // in that case.
+        if (heap_info.totals[i].task != 0 && (uint32_t*)(heap_info.totals[i].task) == (uint32_t*)taskHdl) {
+            task_found = true;
+            // check the number of byte allocated according to the task tracking feature
+            // and make sure it matches the expected value. The size returned by the
+            // heap_caps_get_per_task_info includes the size of the block owner (4 bytes)
+            TEST_ASSERT(heap_info.totals[i].size[0] == ALLOC_BYTES + 4);
+        }
+    }
+    TEST_ASSERT_TRUE(task_found);
+}
+
+static void test_task(void *args)
+{
+    void *ptr = heap_caps_malloc(ALLOC_BYTES, MALLOC_CAP_32BIT);
+    if (ptr == NULL) {
+        abort();
+    }
+
+    // unlock main too check task tracking feature
+    xTaskNotifyGive((TaskHandle_t)args);
+
+    // wait for main to delete this task
+    ulTaskNotifyTake(pdTRUE, portMAX_DELAY);
+}
+
+/* This test will create a task, wait for the task to allocate / free memory
+ * so it is added to the task tracking info in the heap component and then
+ * call heap_caps_get_per_task_info() and make sure a task with the name test_task
+ * is in the list, and that the right ALLOC_BYTES are shown.
+ *
+ * Note: The memory allocated in the task is not freed for the sake of the test
+ * so it is normal that memory leak will be reported by the test environment. It
+ * shouldn't be more than the byte allocated by the task + associated metadata
+ */
+TEST_CASE("heap task tracking reports created task", "[heap]")
+{
+    TaskHandle_t test_task_handle;
+
+    xTaskCreate(&test_task, "test_task", 3072, (void *)xTaskGetCurrentTaskHandle(), 5, &test_task_handle);
+
+    // wait for task to allocate memory and give the hand back to the test
+    ulTaskNotifyTake(pdTRUE, portMAX_DELAY);
+
+    // check that the task is referenced in the list of task
+    // by the task tracking feature. Check the number of bytes
+    // the task has allocated and make sure it is matching the
+    // expected value.
+    check_heap_task_info(test_task_handle);
+
+    // delete the task.
+    vTaskDelete(test_task_handle);
+}
+
+#endif // CONFIG_HEAP_TASK_TRACKING
diff --git a/components/heap/test_apps/heap_tests/pytest_heap.py b/components/heap/test_apps/heap_tests/pytest_heap.py
index c3684eff2d..4bed368aba 100644
--- a/components/heap/test_apps/heap_tests/pytest_heap.py
+++ b/components/heap/test_apps/heap_tests/pytest_heap.py
@@ -13,7 +13,7 @@ from pytest_embedded import Dut
     [
         'no_poisoning',
         'light_poisoning',
-        'comprehensive_poisoning'
+        'comprehensive_poisoning',
     ]
 )
 def test_heap_poisoning(dut: Dut) -> None:
diff --git a/components/heap/test_apps/heap_tests/sdkconfig.ci.no_poisoning b/components/heap/test_apps/heap_tests/sdkconfig.ci.no_poisoning
index 657a760928..58c6da62c4 100644
--- a/components/heap/test_apps/heap_tests/sdkconfig.ci.no_poisoning
+++ b/components/heap/test_apps/heap_tests/sdkconfig.ci.no_poisoning
@@ -1,3 +1,5 @@
 CONFIG_HEAP_POISONING_DISABLED=y
 CONFIG_HEAP_POISONING_LIGHT=n
 CONFIG_HEAP_POISONING_COMPREHENSIVE=n
+
+CONFIG_HEAP_TASK_TRACKING=y # to make sure the config doesn't induce unexpected behavior