diff --git a/components/driver/include/driver/mcpwm_cap.h b/components/driver/include/driver/mcpwm_cap.h
index f1bb030720..709d97c478 100644
--- a/components/driver/include/driver/mcpwm_cap.h
+++ b/components/driver/include/driver/mcpwm_cap.h
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2022-2023 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -131,7 +131,7 @@ esp_err_t mcpwm_capture_timer_set_phase_on_sync(mcpwm_cap_timer_handle_t cap_tim
  * @brief MCPWM capture channel configuration structure
  */
 typedef struct {
-    int gpio_num;                /*!< GPIO used capturing input signal */
+    int gpio_num;                    /*!< GPIO used capturing input signal */
     uint32_t prescale;               /*!< Prescale of input signal, effective frequency = cap_input_clk/prescale */
     struct {
         uint32_t pos_edge: 1;          /*!< Whether to capture on positive edge */
@@ -140,6 +140,8 @@ typedef struct {
         uint32_t pull_down: 1;         /*!< Whether to pull down internally */
         uint32_t invert_cap_signal: 1; /*!< Invert the input capture signal */
         uint32_t io_loop_back: 1;      /*!< For debug/test, the signal output from the GPIO will be fed to the input path as well */
+        uint32_t keep_io_conf_at_exit: 1; /*!< For debug/test, whether to keep the GPIO configuration when capture channel is deleted.
+                                            By default, driver will reset the GPIO pin at exit. */
     } flags;                           /*!< Extra configuration flags for capture channel */
 } mcpwm_capture_channel_config_t;
 
diff --git a/components/driver/mcpwm/mcpwm_cap.c b/components/driver/mcpwm/mcpwm_cap.c
index 7a80545c54..7b594a103b 100644
--- a/components/driver/mcpwm/mcpwm_cap.c
+++ b/components/driver/mcpwm/mcpwm_cap.c
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2022-2023 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -269,6 +269,7 @@ esp_err_t mcpwm_new_capture_channel(mcpwm_cap_timer_handle_t cap_timer, const mc
 
     cap_chan->gpio_num = config->gpio_num;
     cap_chan->fsm = MCPWM_CAP_CHAN_FSM_INIT;
+    cap_chan->flags.reset_io_at_exit = !config->flags.keep_io_conf_at_exit && config->gpio_num >= 0;
     *ret_cap_channel = cap_chan;
     ESP_LOGD(TAG, "new capture channel (%d,%d) at %p", group->group_id, cap_chan_id, cap_chan);
     return ESP_OK;
@@ -289,7 +290,7 @@ esp_err_t mcpwm_del_capture_channel(mcpwm_cap_channel_handle_t cap_channel)
     int cap_chan_id = cap_channel->cap_chan_id;
 
     ESP_LOGD(TAG, "del capture channel (%d,%d)", group->group_id, cap_channel->cap_chan_id);
-    if (cap_channel->gpio_num >= 0) {
+    if (cap_channel->flags.reset_io_at_exit) {
         gpio_reset_pin(cap_channel->gpio_num);
     }
 
diff --git a/components/driver/mcpwm/mcpwm_private.h b/components/driver/mcpwm/mcpwm_private.h
index 912b0a9c92..10b33c3307 100644
--- a/components/driver/mcpwm/mcpwm_private.h
+++ b/components/driver/mcpwm/mcpwm_private.h
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2022-2023 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -216,6 +216,9 @@ struct mcpwm_cap_channel_t {
     intr_handle_t intr;               // Interrupt handle
     mcpwm_capture_event_cb_t on_cap;  // Callback function which would be invoked in capture interrupt routine
     void *user_data;                  // user data which would be passed to the capture callback
+    struct {
+        uint32_t reset_io_at_exit: 1; // Whether to reset the GPIO configuration when capture channel is deleted
+    } flags;
 };
 
 mcpwm_group_t *mcpwm_acquire_group_handle(int group_id);