diff --git a/components/bt/CMakeLists.txt b/components/bt/CMakeLists.txt
index 806c0dbdf2..34ac21bd42 100644
--- a/components/bt/CMakeLists.txt
+++ b/components/bt/CMakeLists.txt
@@ -137,6 +137,7 @@ if(CONFIG_BT_ENABLED)
          "common/osi/semaphore.c"
          "porting/mem/bt_osi_mem.c"
          "common/ble_log/ble_log_spi_out.c"
+         "common/ble_log/ble_log_uhci_out.c"
          )
 
     # Host Bluedroid
@@ -946,6 +947,11 @@ if(CONFIG_BT_ENABLED)
         if(CONFIG_BT_LE_CONTROLLER_LOG_WRAP_PANIC_HANDLER_ENABLE)
             target_link_libraries(${COMPONENT_LIB} INTERFACE "-Wl,--wrap=esp_panic_handler")
         endif()
+        if(CONFIG_BT_BLE_LOG_UHCI_OUT_ENABLED)
+            target_link_libraries(${COMPONENT_LIB} INTERFACE "-Wl,--wrap=uart_tx_chars")
+            target_link_libraries(${COMPONENT_LIB} INTERFACE "-Wl,--wrap=uart_write_bytes")
+            target_link_libraries(${COMPONENT_LIB} INTERFACE "-Wl,--wrap=uart_write_bytes_with_break")
+        endif()
         if(CONFIG_IDF_TARGET_ESP32C6)
             add_prebuilt_library(libble_app
                 "${CMAKE_CURRENT_LIST_DIR}/controller/lib_esp32c6/esp32c6-bt-lib/esp32c6/libble_app.a"
diff --git a/components/bt/common/Kconfig.in b/components/bt/common/Kconfig.in
index 5202f53e9e..5b1de7fdda 100644
--- a/components/bt/common/Kconfig.in
+++ b/components/bt/common/Kconfig.in
@@ -197,3 +197,64 @@ config BT_BLE_LOG_SPI_OUT_MESH_TASK_CNT
     default 3
     help
         Mesh task count
+
+config BT_BLE_LOG_UHCI_OUT_ENABLED
+    bool "Output ble logs via UHCI (UART DMA) driver (Experimental)"
+    default n
+    help
+        Output ble logs via UHCI (UART DMA) driver
+        On enable, BT_BLE_LOG_UHCI_OUT_UART_PORT would be reinited with
+        BT_BLE_LOG_UHCI_OUT_UART_BAUD_RATE as new baud rate and
+        BT_BLE_LOG_UHCI_OUT_UART_IO_NUM_TX as new UART Tx IO
+
+config BT_BLE_LOG_UHCI_OUT_UART_PORT
+    int "UART port connected to UHCI controller"
+    depends on BT_BLE_LOG_UHCI_OUT_ENABLED
+    default 0
+    help
+        UART port connected to UHCI controller
+        If UART port 0 is selected, UART VFS Driver, UART ROM Driver
+        and UART Driver output would be redirected to BLE Log UHCI Out
+        to solve UART Tx FIFO multi-task access issue
+
+config BT_BLE_LOG_UHCI_OUT_LL_TASK_BUF_SIZE
+    int "UHCI transaction buffer size for lower layer task logs"
+    depends on BT_BLE_LOG_UHCI_OUT_ENABLED
+    default 1024
+    help
+        UHCI transaction buffer size for lower layer task logs
+
+config BT_BLE_LOG_UHCI_OUT_LL_ISR_BUF_SIZE
+    int "UHCI transaction buffer size for lower layer ISR logs"
+    depends on BT_BLE_LOG_UHCI_OUT_ENABLED
+    default 1024
+    help
+        UHCI transaction buffer size for lower layer ISR logs
+
+config BT_BLE_LOG_UHCI_OUT_LL_HCI_BUF_SIZE
+    int "UHCI transaction buffer size for lower layer HCI logs"
+    depends on BT_BLE_LOG_UHCI_OUT_ENABLED
+    default 1024
+    help
+        UHCI transaction buffer size for lower layer HCI logs
+
+config BT_BLE_LOG_UHCI_OUT_UART_NEED_INIT
+    bool "Enable to init UART port"
+    depends on BT_BLE_LOG_UHCI_OUT_ENABLED
+    default y
+    help
+        Enable to init UART port
+
+config BT_BLE_LOG_UHCI_OUT_UART_BAUD_RATE
+    int "Baud rate for BT_BLE_LOG_UHCI_OUT_UART_PORT"
+    depends on BT_BLE_LOG_UHCI_OUT_UART_NEED_INIT
+    default 3000000
+    help
+        Baud rate for BT_BLE_LOG_UHCI_OUT_UART_PORT
+
+config BT_BLE_LOG_UHCI_OUT_UART_IO_NUM_TX
+    int "IO number for UART TX port"
+    depends on BT_BLE_LOG_UHCI_OUT_UART_NEED_INIT
+    default 0
+    help
+        IO number for UART TX port
diff --git a/components/bt/common/ble_log/ble_log_uhci_out.c b/components/bt/common/ble_log/ble_log_uhci_out.c
new file mode 100644
index 0000000000..1ab447eee3
--- /dev/null
+++ b/components/bt/common/ble_log/ble_log_uhci_out.c
@@ -0,0 +1,780 @@
+/*
+ * SPDX-FileCopyrightText: 2025 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+#include "ble_log/ble_log_uhci_out.h"
+
+
+#if CONFIG_BT_BLE_LOG_UHCI_OUT_ENABLED
+
+// Private includes
+#include "esp_bt.h"
+
+// sdkconfig defines
+#define UHCI_OUT_LL_TASK_BUF_SIZE               CONFIG_BT_BLE_LOG_UHCI_OUT_LL_TASK_BUF_SIZE
+#define UHCI_OUT_LL_ISR_BUF_SIZE                CONFIG_BT_BLE_LOG_UHCI_OUT_LL_ISR_BUF_SIZE
+#define UHCI_OUT_LL_HCI_BUF_SIZE                CONFIG_BT_BLE_LOG_UHCI_OUT_LL_HCI_BUF_SIZE
+#define UHCI_OUT_UART_PORT                      CONFIG_BT_BLE_LOG_UHCI_OUT_UART_PORT
+#define UHCI_OUT_UART_NEED_INIT                 CONFIG_BT_BLE_LOG_UHCI_OUT_UART_NEED_INIT
+
+#if UHCI_OUT_UART_NEED_INIT
+#define UHCI_OUT_UART_BAUD_RATE                 CONFIG_BT_BLE_LOG_UHCI_OUT_UART_BAUD_RATE
+#define UHCI_OUT_UART_IO_NUM_TX                 CONFIG_BT_BLE_LOG_UHCI_OUT_UART_IO_NUM_TX
+#endif // UHCI_OUT_UART_NEED_INIT
+
+// Private defines
+#define UHCI_OUT_MAX_TRANSFER_SIZE              (10240)
+#define UHCI_OUT_MALLOC(size)                   heap_caps_malloc(size, MALLOC_CAP_INTERNAL | MALLOC_CAP_8BIT)
+#define UHCI_OUT_FLUSH_TIMEOUT_MS               (100)
+#define UHCI_OUT_FLUSH_TIMEOUT_US               (UHCI_OUT_FLUSH_TIMEOUT_MS * 1000)
+#define UHCI_OUT_USER_BUF_SIZE                  (512)
+#define UHCI_OUT_UART_PORT0                     (0)
+#define UHCI_OUT_UART_PORT1                     (1)
+#define UHCI_OUT_UART_DRIVER_RX_BUF_SIZE        (32)
+
+// Queue size defines
+#define UHCI_OUT_PING_PONG_BUF_CNT              (2)
+#define UHCI_OUT_USER_QUEUE_SIZE                (UHCI_OUT_PING_PONG_BUF_CNT)
+#define UHCI_OUT_LL_QUEUE_SIZE                  (3 * UHCI_OUT_PING_PONG_BUF_CNT)
+#define UHCI_OUT_QUEUE_SIZE                     (UHCI_OUT_USER_QUEUE_SIZE + UHCI_OUT_LL_QUEUE_SIZE)
+
+// Private typedefs
+typedef struct {
+    // This flag is for multithreading, must be a word, do not modify
+    volatile uint32_t flag;
+    uint16_t buf_size;
+    uint16_t length;
+    uint8_t buffer[0];
+} uhci_out_trans_cb_t;
+
+typedef struct {
+    uhci_out_trans_cb_t *trans_cb[2];
+    uint8_t trans_cb_idx;
+    uint8_t type;
+    uint16_t lost_frame_cnt;
+    uint32_t lost_bytes_cnt;
+    uint32_t frame_sn;
+} uhci_out_log_cb_t;
+
+typedef struct {
+    uint16_t length;
+    uint8_t source;
+    uint8_t type;
+    uint16_t frame_sn;
+} __attribute__((packed)) frame_head_t;
+
+typedef struct {
+    uint8_t type;
+    uint16_t lost_frame_cnt;
+    uint32_t lost_bytes_cnt;
+} __attribute__((packed)) loss_payload_t;
+
+// Private enums
+enum {
+    TRANS_CB_FLAG_AVAILABLE = 0,
+    TRANS_CB_FLAG_NEED_QUEUE,
+    TRANS_CB_FLAG_IN_QUEUE,
+};
+
+enum {
+    LOG_CB_TYPE_USER = 0,
+    LOG_CB_TYPE_LL,
+};
+
+enum {
+    LOG_CB_LL_SUBTYPE_TASK = 0,
+    LOG_CB_LL_SUBTYPE_ISR,
+    LOG_CB_LL_SUBTYPE_HCI
+};
+
+enum {
+    LL_LOG_FLAG_CONTINUE = 0,
+    LL_LOG_FLAG_END,
+    LL_LOG_FLAG_TASK,
+    LL_LOG_FLAG_ISR,
+    LL_LOG_FLAG_HCI,
+    LL_LOG_FLAG_RAW,
+    LL_LOG_FLAG_SYNC
+};
+
+enum {
+    LL_EV_FLAG_ISR_APPEND = 0,
+    LL_EV_FLAG_FLUSH_LOG,
+};
+
+// Private variables
+static bool uhci_out_inited = false;
+static uhci_controller_handle_t uhci_handle = NULL;
+
+static bool user_log_inited = false;
+static SemaphoreHandle_t user_log_mutex = NULL;
+static uhci_out_log_cb_t *user_log_cb = NULL;
+static uint32_t user_last_write_ts = 0;
+
+static bool ll_log_inited = false;
+static uhci_out_log_cb_t *ll_task_log_cb = NULL;
+static uhci_out_log_cb_t *ll_isr_log_cb = NULL;
+static uhci_out_log_cb_t *ll_hci_log_cb = NULL;
+static uint32_t ll_ev_flags = 0;
+static uint32_t ll_last_write_ts = 0;
+
+static esp_timer_handle_t flush_timer = NULL;
+
+// Private function declarations
+extern void esp_panic_handler_feed_wdts(void);
+
+static int uhci_out_init_trans(uhci_out_trans_cb_t **trans_cb, uint16_t buf_size);
+static void uhci_out_deinit_trans(uhci_out_trans_cb_t **trans_cb);
+static bool uhci_out_tx_done_cb(uhci_controller_handle_t uhci_ctrl,
+                                const uhci_tx_done_event_data_t *edata, void *user_ctx);
+static inline void uhci_out_append_trans(uhci_out_trans_cb_t *trans_cb);
+
+static int uhci_out_log_cb_init(uhci_out_log_cb_t **log_cb, uint16_t buf_size, uint8_t type, uint8_t idx);
+static void uhci_out_log_cb_deinit(uhci_out_log_cb_t **log_cb);
+static inline bool uhci_out_log_cb_check_trans(uhci_out_log_cb_t *log_cb, uint16_t len, bool *need_append);
+static inline void uhci_out_log_cb_append_trans(uhci_out_log_cb_t *log_cb);
+static inline void uhci_out_log_cb_flush_trans(uhci_out_log_cb_t *log_cb);
+static bool uhci_out_log_cb_write(uhci_out_log_cb_t *log_cb, const uint8_t *addr, uint16_t len,
+                                 const uint8_t *addr_append, uint16_t len_append, uint8_t source);
+static void uhci_out_log_cb_write_loss(uhci_out_log_cb_t *log_cb);
+static void uhci_out_log_cb_dump(uhci_out_log_cb_t *log_cb);
+
+static void esp_timer_cb_log_flush(void);
+static void uhci_out_user_write_str(const uint8_t *src, uint16_t len);
+
+#if UHCI_OUT_UART_PORT == UHCI_OUT_UART_PORT0
+static void uhci_out_user_write_char(char c);
+#endif // UHCI_OUT_UART_PORT == UHCI_OUT_UART_PORT0
+
+static int uhci_out_user_log_init(void);
+static void uhci_out_user_log_deinit(void);
+
+static int uhci_out_ll_log_init(void);
+static void uhci_out_ll_log_deinit(void);
+static void uhci_out_ll_log_flush(void);
+
+#if defined(CONFIG_IDF_TARGET_ESP32H2) || defined(CONFIG_IDF_TARGET_ESP32C6) || defined(CONFIG_IDF_TARGET_ESP32C5) ||\
+    defined(CONFIG_IDF_TARGET_ESP32C61) || defined(CONFIG_IDF_TARGET_ESP32H21)
+extern void r_ble_log_simple_put_ev(void);
+#define UHCI_OUT_LL_PUT_EV r_ble_log_simple_put_ev()
+#elif defined(CONFIG_IDF_TARGET_ESP32C2)
+extern void ble_log_simple_put_ev(void);
+#define UHCI_OUT_LL_PUT_EV ble_log_simple_put_ev()
+#else
+#define UHCI_OUT_LL_PUT_EV
+#endif
+
+// Private macros
+#define UHCI_OUT_FRAME_HEAD_LEN     (sizeof(frame_head_t))
+#define UHCI_OUT_FRAME_TAIL_LEN     (sizeof(uint32_t))
+#define UHCI_OUT_FRAME_OVERHEAD     (UHCI_OUT_FRAME_HEAD_LEN + UHCI_OUT_FRAME_TAIL_LEN)
+#define UHCI_OUT_GET_FRAME_SN(VAR)  __atomic_fetch_add(VAR, 1, __ATOMIC_RELAXED)
+
+// Private functions
+static int uhci_out_init_trans(uhci_out_trans_cb_t **trans_cb, uint16_t buf_size)
+{
+    // Memory allocations
+    size_t cb_size = sizeof(uhci_out_trans_cb_t) + buf_size;
+    *trans_cb = (uhci_out_trans_cb_t *)UHCI_OUT_MALLOC(cb_size);
+    if (!(*trans_cb)) {
+        return -1;
+    }
+    memset(*trans_cb, 0, sizeof(uhci_out_trans_cb_t));
+
+    // Initialization
+    (*trans_cb)->buf_size = buf_size;
+    return 0;
+}
+
+static void uhci_out_deinit_trans(uhci_out_trans_cb_t **trans_cb)
+{
+    if (!(*trans_cb)) {
+        return;
+    }
+
+    free(*trans_cb);
+    *trans_cb = NULL;
+    return;
+}
+
+IRAM_ATTR static bool uhci_out_tx_done_cb(uhci_controller_handle_t uhci_ctrl,
+                                          const uhci_tx_done_event_data_t *edata, void *user_ctx)
+{
+    uhci_out_trans_cb_t *trans_cb = (uhci_out_trans_cb_t *)((uint8_t *)edata->buffer - sizeof(uhci_out_trans_cb_t));
+    trans_cb->length = 0;
+    trans_cb->flag = TRANS_CB_FLAG_AVAILABLE;
+    return true;
+}
+
+IRAM_ATTR static inline void uhci_out_append_trans(uhci_out_trans_cb_t *trans_cb)
+{
+    if ((trans_cb->flag != TRANS_CB_FLAG_NEED_QUEUE) || !trans_cb->length) {
+        return;
+    }
+
+    // Note: If task yield after transmission but before flag set
+    //       flag might be reset in tx done ISR before flag set, leading to buffer access failure
+    trans_cb->flag = TRANS_CB_FLAG_IN_QUEUE;
+    if (uhci_transmit(uhci_handle, trans_cb->buffer, trans_cb->length) != ESP_OK) {
+        goto recycle;
+    }
+    return;
+
+recycle:
+    trans_cb->length = 0;
+    trans_cb->flag = TRANS_CB_FLAG_AVAILABLE;
+    return;
+}
+
+static int uhci_out_log_cb_init(uhci_out_log_cb_t **log_cb, uint16_t buf_size, uint8_t type, uint8_t idx)
+{
+    // Initialize log control block
+    *log_cb = (uhci_out_log_cb_t *)UHCI_OUT_MALLOC(sizeof(uhci_out_log_cb_t));
+    if (!(*log_cb)) {
+        return -1;
+    }
+    memset(*log_cb, 0, sizeof(uhci_out_log_cb_t));
+
+    // Initialize transactions
+    int ret = 0;
+    for (uint8_t i = 0; i < 2; i++) {
+        ret |= uhci_out_init_trans(&((*log_cb)->trans_cb[i]), buf_size);
+    }
+    if (ret != 0) {
+        uhci_out_log_cb_deinit(log_cb);
+        return -1;
+    }
+
+    (*log_cb)->type = (type << 4) | (idx);
+    return 0;
+}
+
+static void uhci_out_log_cb_deinit(uhci_out_log_cb_t **log_cb)
+{
+    if (!(*log_cb)) {
+        return;
+    }
+
+    for (uint8_t i = 0; i < 2; i++) {
+        if ((*log_cb)->trans_cb[i]) {
+            uhci_out_deinit_trans(&((*log_cb)->trans_cb[i]));
+        }
+    }
+    free(*log_cb);
+    *log_cb = NULL;
+    return;
+}
+
+IRAM_ATTR static inline bool uhci_out_log_cb_check_trans(uhci_out_log_cb_t *log_cb, uint16_t len, bool *need_append)
+{
+    uhci_out_trans_cb_t *trans_cb;
+    *need_append = false;
+    for (uint8_t i = 0; i < 2; i++) {
+        trans_cb = log_cb->trans_cb[log_cb->trans_cb_idx];
+        if (len > trans_cb->buf_size) {
+            goto failed;
+        }
+        if (trans_cb->flag == TRANS_CB_FLAG_AVAILABLE) {
+            if ((trans_cb->buf_size - trans_cb->length) >= len) {
+                return true;
+            } else {
+                trans_cb->flag = TRANS_CB_FLAG_NEED_QUEUE;
+                *need_append = true;
+            }
+        }
+        log_cb->trans_cb_idx = !(log_cb->trans_cb_idx);
+    }
+failed:
+    log_cb->lost_bytes_cnt += len;
+    log_cb->lost_frame_cnt++;
+    return false;
+}
+
+// CRITICAL: Shall not be called from ISR!
+IRAM_ATTR static inline void uhci_out_log_cb_append_trans(uhci_out_log_cb_t *log_cb)
+{
+    uhci_out_trans_cb_t *trans_cb;
+    uint8_t idx = !log_cb->trans_cb_idx;
+    for (uint8_t i = 0; i < 2; i++) {
+        trans_cb = log_cb->trans_cb[idx];
+        if (trans_cb->flag == TRANS_CB_FLAG_NEED_QUEUE) {
+            uhci_out_append_trans(trans_cb);
+        }
+        idx = !idx;
+    }
+}
+
+IRAM_ATTR static inline void uhci_out_log_cb_flush_trans(uhci_out_log_cb_t *log_cb)
+{
+    uhci_out_trans_cb_t *trans_cb;
+    for (uint8_t i = 0; i < 2; i++) {
+        trans_cb = log_cb->trans_cb[i];
+        if (trans_cb->length && (trans_cb->flag == TRANS_CB_FLAG_AVAILABLE)) {
+            trans_cb->flag = TRANS_CB_FLAG_NEED_QUEUE;
+        }
+    }
+}
+
+// Return value: Need append
+IRAM_ATTR static bool uhci_out_log_cb_write(uhci_out_log_cb_t *log_cb, const uint8_t *addr, uint16_t len,
+                                           const uint8_t *addr_append, uint16_t len_append, uint8_t source)
+{
+    uhci_out_trans_cb_t *trans_cb = log_cb->trans_cb[log_cb->trans_cb_idx];
+
+    uint8_t *buf = trans_cb->buffer + trans_cb->length;
+    uint16_t total_length = len + len_append;
+    frame_head_t head = {
+        .length = total_length,
+        .source = source,
+        .type = log_cb->type,
+        .frame_sn = UHCI_OUT_GET_FRAME_SN(&(log_cb->frame_sn)) & 0xFFFF,
+    };
+
+    memcpy(buf, (const uint8_t *)&head, UHCI_OUT_FRAME_HEAD_LEN);
+    memcpy(buf + UHCI_OUT_FRAME_HEAD_LEN, addr, len);
+    if (len_append && addr_append) {
+        memcpy(buf + UHCI_OUT_FRAME_HEAD_LEN + len, addr_append, len_append);
+    }
+
+    uint32_t checksum = 0;
+    for (int i = 0; i < UHCI_OUT_FRAME_HEAD_LEN + total_length; i++) {
+        checksum += buf[i];
+    }
+    memcpy(buf + UHCI_OUT_FRAME_HEAD_LEN + total_length, &checksum, UHCI_OUT_FRAME_TAIL_LEN);
+
+    trans_cb->length += total_length + UHCI_OUT_FRAME_OVERHEAD;
+    if ((trans_cb->buf_size - trans_cb->length) <= UHCI_OUT_FRAME_OVERHEAD) {
+        trans_cb->flag = TRANS_CB_FLAG_NEED_QUEUE;
+        return true;
+    }
+    return false;
+}
+
+IRAM_ATTR static void uhci_out_log_cb_write_loss(uhci_out_log_cb_t *log_cb)
+{
+    if (!log_cb->lost_bytes_cnt || !log_cb->lost_frame_cnt) {
+        return;
+    }
+    bool need_append;
+    uint16_t frame_len = sizeof(loss_payload_t) + UHCI_OUT_FRAME_OVERHEAD;
+    if (uhci_out_log_cb_check_trans(log_cb, frame_len, &need_append)) {
+        loss_payload_t payload = {
+            .type = log_cb->type,
+            .lost_frame_cnt = log_cb->lost_frame_cnt,
+            .lost_bytes_cnt = log_cb->lost_bytes_cnt,
+        };
+        uhci_out_log_cb_write(log_cb, (const uint8_t *)&payload, sizeof(loss_payload_t),
+                             NULL, 0, BLE_LOG_UHCI_OUT_SOURCE_LOSS);
+
+        log_cb->lost_frame_cnt = 0;
+        log_cb->lost_bytes_cnt = 0;
+    }
+}
+
+static void uhci_out_log_cb_dump(uhci_out_log_cb_t *log_cb)
+{
+    uhci_out_trans_cb_t *trans_cb;
+    uint8_t *buf;
+    for (uint8_t i = 0; i < 2; i++) {
+        // Dump the last transaction before dumping the current transaction
+        log_cb->trans_cb_idx = !(log_cb->trans_cb_idx);
+        trans_cb = log_cb->trans_cb[log_cb->trans_cb_idx];
+        buf = (uint8_t *)trans_cb->buffer;
+        for (uint16_t j = 0; j < trans_cb->buf_size; j++) {
+            esp_rom_printf("%02x ", buf[j]);
+
+            // Feed watchdogs periodically to avoid wdts timeout
+            if ((j % 100) == 0) {
+                esp_panic_handler_feed_wdts();
+            }
+        }
+    }
+}
+
+static void esp_timer_cb_log_flush(void)
+{
+    uint32_t os_ts = pdTICKS_TO_MS(xTaskGetTickCount());
+
+    if ((os_ts - user_last_write_ts) > UHCI_OUT_FLUSH_TIMEOUT_MS) {
+        xSemaphoreTake(user_log_mutex, portMAX_DELAY);
+        uhci_out_log_cb_flush_trans(user_log_cb);
+        uhci_out_log_cb_append_trans(user_log_cb);
+        xSemaphoreGive(user_log_mutex);
+    }
+
+    if ((esp_bt_controller_get_status() >= ESP_BT_CONTROLLER_STATUS_INITED) &&
+        ((os_ts - ll_last_write_ts) > UHCI_OUT_FLUSH_TIMEOUT_MS)) {
+        ll_ev_flags |= BIT(LL_EV_FLAG_FLUSH_LOG);
+        UHCI_OUT_LL_PUT_EV;
+    }
+
+    esp_timer_start_once(flush_timer, UHCI_OUT_FLUSH_TIMEOUT_US);
+}
+
+static void uhci_out_user_write_str(const uint8_t *src, uint16_t len)
+{
+    if (!user_log_inited || !src || !len) {
+        return;
+    }
+
+    xSemaphoreTake(user_log_mutex, portMAX_DELAY);
+
+    bool need_append;
+    if (uhci_out_log_cb_check_trans(user_log_cb, len, &need_append)) {
+        uhci_out_trans_cb_t *trans_cb = user_log_cb->trans_cb[user_log_cb->trans_cb_idx];
+        uint8_t *buf = trans_cb->buffer + trans_cb->length;
+
+        memcpy(buf, (const uint8_t *)src, len);
+        trans_cb->length += len;
+    }
+
+    if (need_append) {
+        uhci_out_log_cb_append_trans(user_log_cb);
+    }
+
+    user_last_write_ts = pdTICKS_TO_MS(xTaskGetTickCount());
+
+    xSemaphoreGive(user_log_mutex);
+}
+
+#if UHCI_OUT_UART_PORT == UHCI_OUT_UART_PORT0
+static void uhci_out_user_write_char(char c)
+{
+    uhci_out_user_write_str((const uint8_t *)&c, 1);
+}
+#endif // UHCI_OUT_UART_PORT == UHCI_OUT_UART_PORT0
+
+static int uhci_out_user_log_init(void)
+{
+    if (user_log_inited) {
+        return 0;
+    }
+
+    // Initialize mutex
+    user_log_mutex = xSemaphoreCreateMutex();
+    if (!user_log_mutex) {
+        goto failed;
+    }
+
+    // Initialize log control block
+    if (uhci_out_log_cb_init(&user_log_cb, UHCI_OUT_USER_BUF_SIZE, LOG_CB_TYPE_USER, 0) != 0) {
+        goto failed;
+    }
+
+    // Initialization done
+    user_log_inited = true;
+    return 0;
+
+failed:
+    uhci_out_user_log_deinit();
+    return -1;
+}
+
+static void uhci_out_user_log_deinit(void)
+{
+    user_log_inited = false;
+
+    if (!user_log_mutex) {
+        return;
+    }
+    xSemaphoreTake(user_log_mutex, portMAX_DELAY);
+
+    uhci_out_log_cb_deinit(&user_log_cb);
+
+    xSemaphoreGive(user_log_mutex);
+    vSemaphoreDelete(user_log_mutex);
+    user_log_mutex = NULL;
+}
+
+static int uhci_out_ll_log_init(void)
+{
+    if (ll_log_inited) {
+        return 0;
+    }
+
+    if (uhci_out_log_cb_init(&ll_task_log_cb, UHCI_OUT_LL_TASK_BUF_SIZE,
+                             LOG_CB_TYPE_LL, LOG_CB_LL_SUBTYPE_TASK) != 0) {
+        goto failed;
+    }
+    if (uhci_out_log_cb_init(&ll_isr_log_cb, UHCI_OUT_LL_ISR_BUF_SIZE,
+                             LOG_CB_TYPE_LL, LOG_CB_LL_SUBTYPE_ISR) != 0) {
+        goto failed;
+    }
+    if (uhci_out_log_cb_init(&ll_hci_log_cb, UHCI_OUT_LL_HCI_BUF_SIZE,
+                             LOG_CB_TYPE_LL, LOG_CB_LL_SUBTYPE_HCI) != 0) {
+        goto failed;
+    }
+
+    ll_log_inited = true;
+    return 0;
+
+failed:
+    uhci_out_ll_log_deinit();
+    return -1;
+}
+
+static void uhci_out_ll_log_deinit(void)
+{
+    ll_log_inited = false;
+
+    uhci_out_log_cb_deinit(&ll_hci_log_cb);
+    uhci_out_log_cb_deinit(&ll_isr_log_cb);
+    uhci_out_log_cb_deinit(&ll_task_log_cb);
+}
+
+static void uhci_out_ll_log_flush(void)
+{
+    if (!ll_log_inited) {
+        return;
+    }
+
+    uhci_out_log_cb_write_loss(ll_task_log_cb);
+    uhci_out_log_cb_write_loss(ll_hci_log_cb);
+
+    uhci_out_log_cb_flush_trans(ll_task_log_cb);
+    uhci_out_log_cb_flush_trans(ll_hci_log_cb);
+
+    portMUX_TYPE spinlock = portMUX_INITIALIZER_UNLOCKED;
+    portENTER_CRITICAL_SAFE(&spinlock);
+    uhci_out_log_cb_write_loss(ll_isr_log_cb);
+    uhci_out_log_cb_flush_trans(ll_isr_log_cb);
+    portEXIT_CRITICAL_SAFE(&spinlock);
+
+    uhci_out_log_cb_append_trans(ll_task_log_cb);
+    uhci_out_log_cb_append_trans(ll_hci_log_cb);
+    uhci_out_log_cb_append_trans(ll_isr_log_cb);
+}
+
+// Public functions
+int ble_log_uhci_out_init(void)
+{
+    // Avoid double init
+    if (uhci_out_inited) {
+        return 0;
+    }
+
+#if UHCI_OUT_UART_NEED_INIT
+    uart_config_t uart_config = {
+        .baud_rate = UHCI_OUT_UART_BAUD_RATE,
+        .data_bits = UART_DATA_8_BITS,
+        .parity = UART_PARITY_DISABLE,
+        .stop_bits = UART_STOP_BITS_1,
+        .flow_ctrl = UART_HW_FLOWCTRL_CTS_RTS,
+        .rx_flow_ctrl_thresh = 122,
+    };
+    // Configure UART parameters
+    uart_param_config(UHCI_OUT_UART_PORT, &uart_config);
+    uart_set_pin(UHCI_OUT_UART_PORT, UHCI_OUT_UART_IO_NUM_TX, -1, -1, -1);
+#endif // UHCI_OUT_UART_NEED_INIT
+
+    uhci_controller_config_t uhci_config = {
+        .uart_port = UHCI_OUT_UART_PORT,
+        .tx_trans_queue_depth = UHCI_OUT_QUEUE_SIZE,
+        .max_receive_internal_mem = 1024,
+        .max_transmit_size = UHCI_OUT_MAX_TRANSFER_SIZE,
+        .dma_burst_size = 32,
+        .rx_eof_flags.idle_eof = 1,
+    };
+    if (uhci_new_controller(&uhci_config, &uhci_handle) != ESP_OK) {
+        goto failed;
+    }
+
+    uhci_event_callbacks_t uhci_cbs = {
+        .on_tx_trans_done = uhci_out_tx_done_cb,
+    };
+    uhci_register_event_callbacks(uhci_handle, &uhci_cbs, NULL);
+
+    if (uhci_out_user_log_init() != 0) {
+        goto failed;
+    }
+
+    if (uhci_out_ll_log_init() != 0) {
+        goto failed;
+    }
+
+    esp_timer_create_args_t timer_args = {
+        .callback = (esp_timer_cb_t)esp_timer_cb_log_flush,
+        .dispatch_method = ESP_TIMER_TASK
+    };
+    if (esp_timer_create(&timer_args, &flush_timer) != ESP_OK) {
+        goto failed;
+    }
+
+#if UHCI_OUT_UART_PORT == UHCI_OUT_UART_PORT0
+    // Install UART Driver if not installed
+    if (!uart_is_driver_installed(UHCI_OUT_UART_PORT0)) {
+        uart_driver_install(UHCI_OUT_UART_PORT0, UHCI_OUT_UART_DRIVER_RX_BUF_SIZE, 0, 0, NULL, 0);
+    }
+
+    // Redirect UART VFS Driver to UART Driver
+    uart_vfs_dev_use_driver(UHCI_OUT_UART_PORT0);
+
+    // Redirect esp_rom_printf to BLE Log UHCI Out
+    esp_rom_install_channel_putc(1, uhci_out_user_write_char);
+    esp_rom_install_channel_putc(2, NULL);
+#endif // UHCI_OUT_UART_PORT == UHCI_OUT_UART_PORT0
+
+    uhci_out_inited = true;
+    esp_timer_start_once(flush_timer, UHCI_OUT_FLUSH_TIMEOUT_US);
+    return 0;
+
+failed:
+    ble_log_uhci_out_deinit();
+    return -1;
+}
+
+void ble_log_uhci_out_deinit(void)
+{
+    uhci_out_inited = false;
+
+    if (flush_timer) {
+        esp_timer_stop(flush_timer);
+        esp_timer_delete(flush_timer);
+        flush_timer = NULL;
+    }
+
+    if (uhci_handle) {
+        uhci_wait_all_tx_transaction_done(uhci_handle, portMAX_DELAY);
+        uhci_del_controller(uhci_handle);
+        uhci_handle = NULL;
+    }
+
+    uhci_out_ll_log_deinit();
+    uhci_out_user_log_deinit();
+}
+
+IRAM_ATTR void ble_log_uhci_out_ll_write(uint32_t len, const uint8_t *addr, uint32_t len_append,
+                                        const uint8_t *addr_append, uint32_t flag)
+{
+    // Raw logs will come in case of assert, shall be printed to console directly
+    if (flag & BIT(LL_LOG_FLAG_RAW)) {
+        if (len && addr) {
+            for (uint32_t i = 0; i < len; i++) { esp_rom_printf("%02x ", addr[i]); }
+        }
+        if (len_append && addr_append) {
+            for (uint32_t i = 0; i < len_append; i++) { esp_rom_printf("%02x ", addr_append[i]); }
+        }
+        if (flag & BIT(LL_LOG_FLAG_END)) { esp_rom_printf("\n"); }
+    }
+
+    if (!ll_log_inited) {
+        return;
+    }
+
+    bool in_isr = false;
+    uint8_t source;
+    uhci_out_log_cb_t *log_cb;
+    if (flag & BIT(LL_LOG_FLAG_ISR)) {
+        log_cb = ll_isr_log_cb;
+        source = BLE_LOG_UHCI_OUT_SOURCE_ESP_ISR;
+        in_isr = true;
+    } else if (flag & BIT(LL_LOG_FLAG_HCI)) {
+        log_cb = ll_hci_log_cb;
+        source = BLE_LOG_UHCI_OUT_SOURCE_LL_HCI;
+    } else {
+        log_cb = ll_task_log_cb;
+        source = BLE_LOG_UHCI_OUT_SOURCE_ESP;
+    }
+
+    bool need_append;
+    uint16_t frame_len = len + len_append + UHCI_OUT_FRAME_OVERHEAD;
+    if (uhci_out_log_cb_check_trans(log_cb, frame_len, &need_append)) {
+        need_append |= uhci_out_log_cb_write(log_cb, addr, len, addr_append,
+                                            len_append, source);
+    }
+
+    ll_last_write_ts = in_isr?\
+                       pdTICKS_TO_MS(xTaskGetTickCountFromISR()):\
+                       pdTICKS_TO_MS(xTaskGetTickCount());
+
+    if (need_append) {
+        if (in_isr) {
+            ll_ev_flags |= BIT(LL_EV_FLAG_ISR_APPEND);
+            UHCI_OUT_LL_PUT_EV;
+        } else {
+            uhci_out_log_cb_append_trans(log_cb);
+        }
+    }
+}
+
+IRAM_ATTR void ble_log_uhci_out_ll_log_ev_proc(void)
+{
+    if (!ll_log_inited) {
+        return;
+    }
+
+    if (ll_ev_flags & BIT(LL_EV_FLAG_ISR_APPEND)) {
+        uhci_out_log_cb_append_trans(ll_isr_log_cb);
+        ll_ev_flags &= ~BIT(LL_EV_FLAG_ISR_APPEND);
+    }
+
+    if (ll_ev_flags & BIT(LL_EV_FLAG_FLUSH_LOG)) {
+        uhci_out_ll_log_flush();
+        ll_ev_flags &= ~BIT(LL_EV_FLAG_FLUSH_LOG);
+    }
+
+    ll_ev_flags = 0;
+}
+
+// Redirect UART Driver to BLE Log UHCI Out
+int __real_uart_tx_chars(uart_port_t uart_num, const char *buffer, uint32_t len);
+int __wrap_uart_tx_chars(uart_port_t uart_num, const char *buffer, uint32_t len)
+{
+#if UHCI_OUT_UART_PORT == UHCI_OUT_UART_PORT0
+    uhci_out_user_write_str((const uint8_t *)buffer, len);
+    return 0;
+#else
+    return __real_uart_tx_chars(uart_num, buffer, len);
+#endif // UHCI_OUT_UART_PORT == UHCI_OUT_UART_PORT0
+}
+
+int __real_uart_write_bytes(uart_port_t uart_num, const void *src, size_t size);
+int __wrap_uart_write_bytes(uart_port_t uart_num, const void *src, size_t size)
+{
+#if UHCI_OUT_UART_PORT == UHCI_OUT_UART_PORT0
+    uhci_out_user_write_str((const uint8_t *)src, size);
+    return 0;
+#else
+    return __real_uart_write_bytes(uart_num, src, size);
+#endif // UHCI_OUT_UART_PORT == UHCI_OUT_UART_PORT0
+}
+
+int __real_uart_write_bytes_with_break(uart_port_t uart_num, const void *src, size_t size, int brk_len);
+int __wrap_uart_write_bytes_with_break(uart_port_t uart_num, const void *src, size_t size, int brk_len)
+{
+#if UHCI_OUT_UART_PORT == UHCI_OUT_UART_PORT0
+    return __wrap_uart_write_bytes(uart_num, src, size);
+#else
+    return __real_uart_write_bytes_with_break(uart_num, src, size, brk_len);
+#endif // UHCI_OUT_UART_PORT == UHCI_OUT_UART_PORT0
+}
+
+void ble_log_uhci_out_dump_all(void)
+{
+    if (!uhci_out_inited) {
+        return;
+    }
+
+#if UHCI_OUT_UART_PORT == UHCI_OUT_UART_PORT0
+    esp_rom_output_tx_wait_idle(UHCI_OUT_UART_PORT0);
+    esp_rom_install_uart_printf();
+#endif // UHCI_OUT_UART_PORT == UHCI_OUT_UART_PORT0
+
+    portMUX_TYPE spinlock = portMUX_INITIALIZER_UNLOCKED;
+    portENTER_CRITICAL_SAFE(&spinlock);
+
+    if (ll_log_inited) {
+        esp_rom_printf("[DUMP_START:\n");
+        uhci_out_log_cb_dump(ll_isr_log_cb);
+        uhci_out_log_cb_dump(ll_task_log_cb);
+        uhci_out_log_cb_dump(ll_hci_log_cb);
+        esp_rom_printf("\n:DUMP_END]\n\n");
+    }
+    portEXIT_CRITICAL_SAFE(&spinlock);
+
+#if UHCI_OUT_UART_PORT == UHCI_OUT_UART_PORT0
+    esp_rom_install_channel_putc(1, uhci_out_user_write_char);
+#endif // UHCI_OUT_UART_PORT == UHCI_OUT_UART_PORT0
+}
+#endif // CONFIG_BT_BLE_LOG_UHCI_OUT_ENABLED
diff --git a/components/bt/common/ble_log/include/ble_log/ble_log_uhci_out.h b/components/bt/common/ble_log/include/ble_log/ble_log_uhci_out.h
new file mode 100644
index 0000000000..b3e5f1e541
--- /dev/null
+++ b/components/bt/common/ble_log/include/ble_log/ble_log_uhci_out.h
@@ -0,0 +1,35 @@
+/*
+ * SPDX-FileCopyrightText: 2025 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+#ifndef __BT_SPI_OUT_H__
+#define __BT_SPI_OUT_H__
+
+#include <stdarg.h>
+#include <string.h>
+#include "driver/uhci.h"
+#include "driver/uart.h"
+#include "driver/uart_vfs.h"
+#include "esp_rom_serial_output.h"
+#include "esp_timer.h"
+#include "freertos/semphr.h"
+
+// Public enums
+enum {
+    BLE_LOG_UHCI_OUT_SOURCE_ESP = 0,
+    BLE_LOG_UHCI_OUT_SOURCE_ESP_ISR = 6,
+    BLE_LOG_UHCI_OUT_SOURCE_LL_HCI = 8,
+    BLE_LOG_UHCI_OUT_SOURCE_USER = 0x10,
+    BLE_LOG_UHCI_OUT_SOURCE_LOSS = 0xFF,
+};
+
+// Public functions
+int ble_log_uhci_out_init(void);
+void ble_log_uhci_out_deinit(void);
+void ble_log_uhci_out_ll_write(uint32_t len, const uint8_t *addr, uint32_t len_append,
+                               const uint8_t *addr_append, uint32_t flag);
+void ble_log_uhci_out_ll_log_ev_proc(void);
+void ble_log_uhci_out_dump_all(void);
+
+#endif // __BT_SPI_OUT_H__
diff --git a/components/bt/controller/esp32c5/Kconfig.in b/components/bt/controller/esp32c5/Kconfig.in
index a95e6ef679..e027a57155 100644
--- a/components/bt/controller/esp32c5/Kconfig.in
+++ b/components/bt/controller/esp32c5/Kconfig.in
@@ -320,6 +320,16 @@ menu "Controller debug features"
         help
             Output ble controller logs to SPI bus
 
+    config BT_LE_CONTROLLER_LOG_UHCI_OUT_ENABLED
+        bool "Output ble controller logs via UART DMA (Experimental)"
+        depends on BT_LE_CONTROLLER_LOG_ENABLED
+        depends on !BT_LE_CONTROLLER_LOG_DUMP_ONLY
+        depends on !BT_LE_CONTROLLER_LOG_SPI_OUT_ENABLED
+        select BT_BLE_LOG_UHCI_OUT_ENABLED
+        default y
+        help
+            Output ble controller logs via UART DMA
+
     config BT_LE_CONTROLLER_LOG_STORAGE_ENABLE
         bool "Store ble controller logs to flash(Experimental)"
         depends on !BT_LE_CONTROLLER_LOG_DUMP_ONLY
diff --git a/components/bt/controller/esp32c5/bt.c b/components/bt/controller/esp32c5/bt.c
index 3d035ac307..e928a3656b 100644
--- a/components/bt/controller/esp32c5/bt.c
+++ b/components/bt/controller/esp32c5/bt.c
@@ -60,6 +60,10 @@
 #include "ble_log/ble_log_spi_out.h"
 #endif // CONFIG_BT_BLE_LOG_SPI_OUT_ENABLED
 
+#if CONFIG_BT_BLE_LOG_UHCI_OUT_ENABLED
+#include "ble_log/ble_log_uhci_out.h"
+#endif // CONFIG_BT_BLE_LOG_UHCI_OUT_ENABLED
+
 /* Macro definition
  ************************************************************************
  */
@@ -189,9 +193,9 @@ static int esp_ecc_gen_key_pair(uint8_t *pub, uint8_t *priv);
 static int esp_ecc_gen_dh_key(const uint8_t *peer_pub_key_x, const uint8_t *peer_pub_key_y,
                               const uint8_t *our_priv_key, uint8_t *out_dhkey);
 #if CONFIG_BT_LE_CONTROLLER_LOG_ENABLED
-#if !CONFIG_BT_LE_CONTROLLER_LOG_SPI_OUT_ENABLED
+#if !CONFIG_BT_LE_CONTROLLER_LOG_SPI_OUT_ENABLED && !CONFIG_BT_LE_CONTROLLER_LOG_UHCI_OUT_ENABLED
 static void esp_bt_controller_log_interface(uint32_t len, const uint8_t *addr, uint32_t len_append, const uint8_t *addr_append, uint32_t flag);
-#endif // !CONFIG_BT_LE_CONTROLLER_LOG_SPI_OUT_ENABLED
+#endif // !CONFIG_BT_LE_CONTROLLER_LOG_SPI_OUT_ENABLED && !CONFIG_BT_LE_CONTROLLER_LOG_UHCI_OUT_ENABLED
 #if CONFIG_BT_LE_CONTROLLER_LOG_STORAGE_ENABLE
 static void esp_bt_ctrl_log_partition_get_and_erase_first_block(void);
 #endif // CONFIG_BT_LE_CONTROLLER_LOG_STORAGE_ENABLE
@@ -218,25 +222,35 @@ esp_err_t esp_bt_controller_log_init(void)
     }
 #endif // CONFIG_BT_BLE_LOG_SPI_OUT_ENABLED
 
+#if CONFIG_BT_BLE_LOG_UHCI_OUT_ENABLED
+    if (ble_log_uhci_out_init() != 0) {
+        goto uhci_out_init_failed;
+    }
+#endif // CONFIG_BT_BLE_LOG_UHCI_OUT_ENABLED
+
 #if CONFIG_BT_LE_CONTROLLER_LOG_SPI_OUT_ENABLED
     if (r_ble_log_init_simple(ble_log_spi_out_ll_write, ble_log_spi_out_ll_log_ev_proc) != 0) {
         goto log_init_failed;
     }
-#else // !CONFIG_BT_LE_CONTROLLER_LOG_SPI_OUT_ENABLED
+#elif CONFIG_BT_LE_CONTROLLER_LOG_UHCI_OUT_ENABLED
+    if (r_ble_log_init_simple(ble_log_uhci_out_ll_write, ble_log_uhci_out_ll_log_ev_proc) != 0) {
+        goto log_init_failed;
+    }
+#else
     uint8_t buffers = 0;
 #if CONFIG_BT_LE_CONTROLLER_LOG_CTRL_ENABLED
     buffers |= ESP_BLE_LOG_BUF_CONTROLLER;
 #endif // CONFIG_BT_LE_CONTROLLER_LOG_CTRL_ENABLED
 #if CONFIG_BT_LE_CONTROLLER_LOG_HCI_ENABLED
     buffers |= ESP_BLE_LOG_BUF_HCI;
-#endif // CONFIG_BT_LE_CONTROLLER_LOG_HCI_ENABLED
+#endif
 
     bool task_create = true;
 #if CONFIG_BT_LE_CONTROLLER_LOG_DUMP_ONLY
     task_create = false;
 #elif CONFIG_BT_LE_CONTROLLER_LOG_STORAGE_ENABLE
     esp_bt_ctrl_log_partition_get_and_erase_first_block();
-#endif // CONFIG_BT_LE_CONTROLLER_LOG_SPI_OUT_ENABLED
+#endif
 
     if (r_ble_log_init_async(esp_bt_controller_log_interface, task_create, buffers, (uint32_t *)log_bufs_size) != 0) {
         goto log_init_failed;
@@ -252,14 +266,20 @@ esp_err_t esp_bt_controller_log_init(void)
 ctrl_level_init_failed:
 #if CONFIG_BT_LE_CONTROLLER_LOG_SPI_OUT_ENABLED
     r_ble_log_deinit_simple();
-#else // !CONFIG_BT_LE_CONTROLLER_LOG_SPI_OUT_ENABLED
+#elif CONFIG_BT_LE_CONTROLLER_LOG_UHCI_OUT_ENABLED
+    r_ble_log_deinit_simple();
+#else
     r_ble_log_deinit_async();
-#endif // CONFIG_BT_LE_CONTROLLER_LOG_SPI_OUT_ENABLED
+#endif
 log_init_failed:
 #if CONFIG_BT_BLE_LOG_SPI_OUT_ENABLED
     ble_log_spi_out_deinit();
 spi_out_init_failed:
 #endif // CONFIG_BT_BLE_LOG_SPI_OUT_ENABLED
+#if CONFIG_BT_BLE_LOG_UHCI_OUT_ENABLED
+    ble_log_uhci_out_deinit();
+uhci_out_init_failed:
+#endif // CONFIG_BT_BLE_LOG_UHCI_OUT_ENABLED
     return ESP_FAIL;
 }
 
@@ -269,11 +289,17 @@ void esp_bt_controller_log_deinit(void)
     ble_log_spi_out_deinit();
 #endif // CONFIG_BT_BLE_LOG_SPI_OUT_ENABLED
 
+#if CONFIG_BT_BLE_LOG_UHCI_OUT_ENABLED
+    ble_log_uhci_out_deinit();
+#endif // CONFIG_BT_BLE_LOG_UHCI_OUT_ENABLED
+
 #if CONFIG_BT_LE_CONTROLLER_LOG_SPI_OUT_ENABLED
     r_ble_log_deinit_simple();
-#else // !CONFIG_BT_LE_CONTROLLER_LOG_SPI_OUT_ENABLED
+#elif CONFIG_BT_LE_CONTROLLER_LOG_UHCI_OUT_ENABLED
+    r_ble_log_deinit_simple();
+#else
     r_ble_log_deinit_async();
-#endif // CONFIG_BT_LE_CONTROLLER_LOG_SPI_OUT_ENABLED
+#endif
 
     log_is_inited = false;
 }
@@ -1412,7 +1438,7 @@ esp_power_level_t esp_ble_tx_power_get_enhanced(esp_ble_enhanced_power_type_t po
 }
 
 #if CONFIG_BT_LE_CONTROLLER_LOG_ENABLED
-#if !CONFIG_BT_LE_CONTROLLER_LOG_SPI_OUT_ENABLED
+#if !CONFIG_BT_LE_CONTROLLER_LOG_SPI_OUT_ENABLED && !CONFIG_BT_LE_CONTROLLER_LOG_UHCI_OUT_ENABLED
 static void esp_bt_controller_log_interface(uint32_t len, const uint8_t *addr, uint32_t len_append, const uint8_t *addr_append, uint32_t flag)
 {
     bool end = (flag & BIT(BLE_LOG_INTERFACE_FLAG_END));
@@ -1434,7 +1460,7 @@ static void esp_bt_controller_log_interface(uint32_t len, const uint8_t *addr, u
     portEXIT_CRITICAL_SAFE(&spinlock);
 #endif // CONFIG_BT_LE_CONTROLLER_LOG_STORAGE_ENABLE
 }
-#endif // !CONFIG_BT_LE_CONTROLLER_LOG_SPI_OUT_ENABLED
+#endif // !CONFIG_BT_LE_CONTROLLER_LOG_SPI_OUT_ENABLED && !CONFIG_BT_LE_CONTROLLER_LOG_UHCI_OUT_ENABLED
 
 void esp_ble_controller_log_dump_all(bool output)
 {
@@ -1442,9 +1468,13 @@ void esp_ble_controller_log_dump_all(bool output)
     ble_log_spi_out_dump_all();
 #endif // CONFIG_BT_BLE_LOG_SPI_OUT_ENABLED
 
+#if CONFIG_BT_BLE_LOG_UHCI_OUT_ENABLED
+    ble_log_uhci_out_dump_all();
+#endif // CONFIG_BT_BLE_LOG_UHCI_OUT_ENABLED
+
 #if CONFIG_BT_LE_CONTROLLER_LOG_STORAGE_ENABLE
     esp_bt_read_ctrl_log_from_flash(output);
-#elif !CONFIG_BT_LE_CONTROLLER_LOG_SPI_OUT_ENABLED
+#elif !CONFIG_BT_LE_CONTROLLER_LOG_SPI_OUT_ENABLED && !CONFIG_BT_LE_CONTROLLER_LOG_UHCI_OUT_ENABLED
     portMUX_TYPE spinlock = portMUX_INITIALIZER_UNLOCKED;
     portENTER_CRITICAL_SAFE(&spinlock);
     esp_panic_handler_feed_wdts();
diff --git a/components/bt/controller/esp32c6/Kconfig.in b/components/bt/controller/esp32c6/Kconfig.in
index f7b2a7db92..22a21ea7b1 100644
--- a/components/bt/controller/esp32c6/Kconfig.in
+++ b/components/bt/controller/esp32c6/Kconfig.in
@@ -361,6 +361,16 @@ menu "Controller debug features"
         help
             Output ble controller logs to SPI bus
 
+    config BT_LE_CONTROLLER_LOG_UHCI_OUT_ENABLED
+        bool "Output ble controller logs via UART DMA (Experimental)"
+        depends on BT_LE_CONTROLLER_LOG_ENABLED
+        depends on !BT_LE_CONTROLLER_LOG_DUMP_ONLY
+        depends on !BT_LE_CONTROLLER_LOG_SPI_OUT_ENABLED
+        select BT_BLE_LOG_UHCI_OUT_ENABLED
+        default y
+        help
+            Output ble controller logs via UART DMA
+
     config BT_LE_CONTROLLER_LOG_STORAGE_ENABLE
         bool "Store ble controller logs to flash(Experimental)"
         depends on !BT_LE_CONTROLLER_LOG_DUMP_ONLY
diff --git a/components/bt/controller/esp32c6/bt.c b/components/bt/controller/esp32c6/bt.c
index 123acde38c..40adeeef0d 100644
--- a/components/bt/controller/esp32c6/bt.c
+++ b/components/bt/controller/esp32c6/bt.c
@@ -64,6 +64,10 @@
 #include "ble_log/ble_log_spi_out.h"
 #endif // CONFIG_BT_BLE_LOG_SPI_OUT_ENABLED
 
+#if CONFIG_BT_BLE_LOG_UHCI_OUT_ENABLED
+#include "ble_log/ble_log_uhci_out.h"
+#endif // CONFIG_BT_BLE_LOG_UHCI_OUT_ENABLED
+
 /* Macro definition
  ************************************************************************
  */
@@ -205,9 +209,9 @@ static int esp_ecc_gen_key_pair(uint8_t *pub, uint8_t *priv);
 static int esp_ecc_gen_dh_key(const uint8_t *peer_pub_key_x, const uint8_t *peer_pub_key_y,
                               const uint8_t *our_priv_key, uint8_t *out_dhkey);
 #if CONFIG_BT_LE_CONTROLLER_LOG_ENABLED
-#if !CONFIG_BT_LE_CONTROLLER_LOG_SPI_OUT_ENABLED
+#if !CONFIG_BT_LE_CONTROLLER_LOG_SPI_OUT_ENABLED && !CONFIG_BT_LE_CONTROLLER_LOG_UHCI_OUT_ENABLED
 static void esp_bt_controller_log_interface(uint32_t len, const uint8_t *addr, uint32_t len_append, const uint8_t *addr_append, uint32_t flag);
-#endif // !CONFIG_BT_LE_CONTROLLER_LOG_SPI_OUT_ENABLED
+#endif // !CONFIG_BT_LE_CONTROLLER_LOG_SPI_OUT_ENABLED && !CONFIG_BT_LE_CONTROLLER_LOG_UHCI_OUT_ENABLED
 #if CONFIG_BT_LE_CONTROLLER_LOG_STORAGE_ENABLE
 static void esp_bt_ctrl_log_partition_get_and_erase_first_block(void);
 #endif // CONFIG_BT_LE_CONTROLLER_LOG_STORAGE_ENABLE
@@ -234,11 +238,21 @@ esp_err_t esp_bt_controller_log_init(void)
     }
 #endif // CONFIG_BT_BLE_LOG_SPI_OUT_ENABLED
 
+#if CONFIG_BT_BLE_LOG_UHCI_OUT_ENABLED
+    if (ble_log_uhci_out_init() != 0) {
+        goto uhci_out_init_failed;
+    }
+#endif // CONFIG_BT_BLE_LOG_UHCI_OUT_ENABLED
+
 #if CONFIG_BT_LE_CONTROLLER_LOG_SPI_OUT_ENABLED
     if (r_ble_log_init_simple(ble_log_spi_out_ll_write, ble_log_spi_out_ll_log_ev_proc) != 0) {
         goto log_init_failed;
     }
-#else // !CONFIG_BT_LE_CONTROLLER_LOG_SPI_OUT_ENABLED
+#elif CONFIG_BT_LE_CONTROLLER_LOG_UHCI_OUT_ENABLED
+    if (r_ble_log_init_simple(ble_log_uhci_out_ll_write, ble_log_uhci_out_ll_log_ev_proc) != 0) {
+        goto log_init_failed;
+    }
+#else
     uint8_t buffers = 0;
 #if CONFIG_BT_LE_CONTROLLER_LOG_CTRL_ENABLED
     buffers |= ESP_BLE_LOG_BUF_CONTROLLER;
@@ -252,12 +266,12 @@ esp_err_t esp_bt_controller_log_init(void)
     task_create = false;
 #elif CONFIG_BT_LE_CONTROLLER_LOG_STORAGE_ENABLE
     esp_bt_ctrl_log_partition_get_and_erase_first_block();
-#endif // CONFIG_BT_LE_CONTROLLER_LOG_SPI_OUT_ENABLED
+#endif
 
     if (r_ble_log_init_async(esp_bt_controller_log_interface, task_create, buffers, (uint32_t *)log_bufs_size) != 0) {
         goto log_init_failed;
     }
-#endif // CONFIG_BT_LE_CONTROLLER_LOG_SPI_OUT_ENABLED
+#endif
 
     if (r_ble_log_ctrl_level_and_mod(CONFIG_BT_LE_CONTROLLER_LOG_OUTPUT_LEVEL, CONFIG_BT_LE_CONTROLLER_LOG_MOD_OUTPUT_SWITCH) != ESP_OK) {
         goto ctrl_level_init_failed;
@@ -268,14 +282,20 @@ esp_err_t esp_bt_controller_log_init(void)
 ctrl_level_init_failed:
 #if CONFIG_BT_LE_CONTROLLER_LOG_SPI_OUT_ENABLED
     r_ble_log_deinit_simple();
-#else // !CONFIG_BT_LE_CONTROLLER_LOG_SPI_OUT_ENABLED
+#elif CONFIG_BT_LE_CONTROLLER_LOG_UHCI_OUT_ENABLED
+    r_ble_log_deinit_simple();
+#else
     r_ble_log_deinit_async();
-#endif // CONFIG_BT_LE_CONTROLLER_LOG_SPI_OUT_ENABLED
+#endif
 log_init_failed:
 #if CONFIG_BT_BLE_LOG_SPI_OUT_ENABLED
     ble_log_spi_out_deinit();
 spi_out_init_failed:
 #endif // CONFIG_BT_BLE_LOG_SPI_OUT_ENABLED
+#if CONFIG_BT_BLE_LOG_UHCI_OUT_ENABLED
+    ble_log_uhci_out_deinit();
+uhci_out_init_failed:
+#endif // CONFIG_BT_BLE_LOG_UHCI_OUT_ENABLED
     return ESP_FAIL;
 }
 
@@ -285,11 +305,17 @@ void esp_bt_controller_log_deinit(void)
     ble_log_spi_out_deinit();
 #endif // CONFIG_BT_BLE_LOG_SPI_OUT_ENABLED
 
+#if CONFIG_BT_BLE_LOG_UHCI_OUT_ENABLED
+    ble_log_uhci_out_deinit();
+#endif // CONFIG_BT_BLE_LOG_UHCI_OUT_ENABLED
+
 #if CONFIG_BT_LE_CONTROLLER_LOG_SPI_OUT_ENABLED
     r_ble_log_deinit_simple();
-#else // !CONFIG_BT_LE_CONTROLLER_LOG_SPI_OUT_ENABLED
+#elif CONFIG_BT_LE_CONTROLLER_LOG_UHCI_OUT_ENABLED
+    r_ble_log_deinit_simple();
+#else
     r_ble_log_deinit_async();
-#endif // CONFIG_BT_LE_CONTROLLER_LOG_SPI_OUT_ENABLED
+#endif
 
     log_is_inited = false;
 }
@@ -1483,7 +1509,7 @@ esp_power_level_t esp_ble_tx_power_get_enhanced(esp_ble_enhanced_power_type_t po
 }
 
 #if CONFIG_BT_LE_CONTROLLER_LOG_ENABLED
-#if !CONFIG_BT_LE_CONTROLLER_LOG_SPI_OUT_ENABLED
+#if !CONFIG_BT_LE_CONTROLLER_LOG_SPI_OUT_ENABLED && !CONFIG_BT_LE_CONTROLLER_LOG_UHCI_OUT_ENABLED
 static void esp_bt_controller_log_interface(uint32_t len, const uint8_t *addr, uint32_t len_append, const uint8_t *addr_append, uint32_t flag)
 {
     bool end = (flag & BIT(BLE_LOG_INTERFACE_FLAG_END));
@@ -1505,7 +1531,7 @@ static void esp_bt_controller_log_interface(uint32_t len, const uint8_t *addr, u
     portEXIT_CRITICAL_SAFE(&spinlock);
 #endif // CONFIG_BT_LE_CONTROLLER_LOG_STORAGE_ENABLE
 }
-#endif // !CONFIG_BT_LE_CONTROLLER_LOG_SPI_OUT_ENABLED
+#endif // !CONFIG_BT_LE_CONTROLLER_LOG_SPI_OUT_ENABLED && !CONFIG_BT_LE_CONTROLLER_LOG_UHCI_OUT_ENABLED
 
 void esp_ble_controller_log_dump_all(bool output)
 {
@@ -1513,9 +1539,13 @@ void esp_ble_controller_log_dump_all(bool output)
     ble_log_spi_out_dump_all();
 #endif // CONFIG_BT_BLE_LOG_SPI_OUT_ENABLED
 
+#if CONFIG_BT_BLE_LOG_UHCI_OUT_ENABLED
+    ble_log_uhci_out_dump_all();
+#endif // CONFIG_BT_BLE_LOG_UHCI_OUT_ENABLED
+
 #if CONFIG_BT_LE_CONTROLLER_LOG_STORAGE_ENABLE
     esp_bt_read_ctrl_log_from_flash(output);
-#elif !CONFIG_BT_LE_CONTROLLER_LOG_SPI_OUT_ENABLED
+#elif !CONFIG_BT_LE_CONTROLLER_LOG_SPI_OUT_ENABLED && !CONFIG_BT_LE_CONTROLLER_LOG_UHCI_OUT_ENABLED
     portMUX_TYPE spinlock = portMUX_INITIALIZER_UNLOCKED;
     portENTER_CRITICAL_SAFE(&spinlock);
     esp_panic_handler_feed_wdts();
diff --git a/components/bt/controller/esp32h2/Kconfig.in b/components/bt/controller/esp32h2/Kconfig.in
index 5ff989a8b4..87de9de997 100644
--- a/components/bt/controller/esp32h2/Kconfig.in
+++ b/components/bt/controller/esp32h2/Kconfig.in
@@ -355,6 +355,16 @@ menu "Controller debug features"
         help
             Output ble controller logs to SPI bus
 
+    config BT_LE_CONTROLLER_LOG_UHCI_OUT_ENABLED
+        bool "Output ble controller logs via UART DMA (Experimental)"
+        depends on BT_LE_CONTROLLER_LOG_ENABLED
+        depends on !BT_LE_CONTROLLER_LOG_DUMP_ONLY
+        depends on !BT_LE_CONTROLLER_LOG_SPI_OUT_ENABLED
+        select BT_BLE_LOG_UHCI_OUT_ENABLED
+        default y
+        help
+            Output ble controller logs via UART DMA
+
     config BT_LE_CONTROLLER_LOG_STORAGE_ENABLE
         bool "Store ble controller logs to flash(Experimental)"
         depends on !BT_LE_CONTROLLER_LOG_DUMP_ONLY
diff --git a/components/bt/controller/esp32h2/bt.c b/components/bt/controller/esp32h2/bt.c
index 28672c244a..e4f34c5935 100644
--- a/components/bt/controller/esp32h2/bt.c
+++ b/components/bt/controller/esp32h2/bt.c
@@ -59,6 +59,10 @@
 #include "ble_log/ble_log_spi_out.h"
 #endif // CONFIG_BT_BLE_LOG_SPI_OUT_ENABLED
 
+#if CONFIG_BT_BLE_LOG_UHCI_OUT_ENABLED
+#include "ble_log/ble_log_uhci_out.h"
+#endif // CONFIG_BT_BLE_LOG_UHCI_OUT_ENABLED
+
 /* Macro definition
  ************************************************************************
  */
@@ -191,9 +195,9 @@ static int esp_ecc_gen_key_pair(uint8_t *pub, uint8_t *priv);
 static int esp_ecc_gen_dh_key(const uint8_t *peer_pub_key_x, const uint8_t *peer_pub_key_y,
                               const uint8_t *our_priv_key, uint8_t *out_dhkey);
 #if CONFIG_BT_LE_CONTROLLER_LOG_ENABLED
-#if !CONFIG_BT_LE_CONTROLLER_LOG_SPI_OUT_ENABLED
+#if !CONFIG_BT_LE_CONTROLLER_LOG_SPI_OUT_ENABLED && !CONFIG_BT_LE_CONTROLLER_LOG_UHCI_OUT_ENABLED
 static void esp_bt_controller_log_interface(uint32_t len, const uint8_t *addr, uint32_t len_append, const uint8_t *addr_append, uint32_t flag);
-#endif // !CONFIG_BT_LE_CONTROLLER_LOG_SPI_OUT_ENABLED
+#endif // !CONFIG_BT_LE_CONTROLLER_LOG_SPI_OUT_ENABLED && !CONFIG_BT_LE_CONTROLLER_LOG_UHCI_OUT_ENABLED
 #if CONFIG_BT_LE_CONTROLLER_LOG_STORAGE_ENABLE
 static void esp_bt_ctrl_log_partition_get_and_erase_first_block(void);
 #endif // CONFIG_BT_LE_CONTROLLER_LOG_STORAGE_ENABLE
@@ -220,11 +224,21 @@ esp_err_t esp_bt_controller_log_init(void)
     }
 #endif // CONFIG_BT_BLE_LOG_SPI_OUT_ENABLED
 
+#if CONFIG_BT_BLE_LOG_UHCI_OUT_ENABLED
+    if (ble_log_uhci_out_init() != 0) {
+        goto uhci_out_init_failed;
+    }
+#endif // CONFIG_BT_BLE_LOG_UHCI_OUT_ENABLED
+
 #if CONFIG_BT_LE_CONTROLLER_LOG_SPI_OUT_ENABLED
     if (r_ble_log_init_simple(ble_log_spi_out_ll_write, ble_log_spi_out_ll_log_ev_proc) != 0) {
         goto log_init_failed;
     }
-#else // !CONFIG_BT_LE_CONTROLLER_LOG_SPI_OUT_ENABLED
+#elif CONFIG_BT_LE_CONTROLLER_LOG_UHCI_OUT_ENABLED
+    if (r_ble_log_init_simple(ble_log_uhci_out_ll_write, ble_log_uhci_out_ll_log_ev_proc) != 0) {
+        goto log_init_failed;
+    }
+#else
     uint8_t buffers = 0;
 #if CONFIG_BT_LE_CONTROLLER_LOG_CTRL_ENABLED
     buffers |= ESP_BLE_LOG_BUF_CONTROLLER;
@@ -238,12 +252,12 @@ esp_err_t esp_bt_controller_log_init(void)
     task_create = false;
 #elif CONFIG_BT_LE_CONTROLLER_LOG_STORAGE_ENABLE
     esp_bt_ctrl_log_partition_get_and_erase_first_block();
-#endif // CONFIG_BT_LE_CONTROLLER_LOG_SPI_OUT_ENABLED
+#endif
 
     if (r_ble_log_init_async(esp_bt_controller_log_interface, task_create, buffers, (uint32_t *)log_bufs_size) != 0) {
         goto log_init_failed;
     }
-#endif // CONFIG_BT_LE_CONTROLLER_LOG_SPI_OUT_ENABLED
+#endif
 
     if (r_ble_log_ctrl_level_and_mod(CONFIG_BT_LE_CONTROLLER_LOG_OUTPUT_LEVEL, CONFIG_BT_LE_CONTROLLER_LOG_MOD_OUTPUT_SWITCH) != ESP_OK) {
         goto ctrl_level_init_failed;
@@ -254,14 +268,20 @@ esp_err_t esp_bt_controller_log_init(void)
 ctrl_level_init_failed:
 #if CONFIG_BT_LE_CONTROLLER_LOG_SPI_OUT_ENABLED
     r_ble_log_deinit_simple();
-#else // !CONFIG_BT_LE_CONTROLLER_LOG_SPI_OUT_ENABLED
+#elif CONFIG_BT_LE_CONTROLLER_LOG_UHCI_OUT_ENABLED
+    r_ble_log_deinit_simple();
+#else
     r_ble_log_deinit_async();
-#endif // CONFIG_BT_LE_CONTROLLER_LOG_SPI_OUT_ENABLED
+#endif
 log_init_failed:
 #if CONFIG_BT_BLE_LOG_SPI_OUT_ENABLED
     ble_log_spi_out_deinit();
 spi_out_init_failed:
 #endif // CONFIG_BT_BLE_LOG_SPI_OUT_ENABLED
+#if CONFIG_BT_BLE_LOG_UHCI_OUT_ENABLED
+    ble_log_uhci_out_deinit();
+uhci_out_init_failed:
+#endif // CONFIG_BT_BLE_LOG_UHCI_OUT_ENABLED
     return ESP_FAIL;
 }
 
@@ -271,11 +291,17 @@ void esp_bt_controller_log_deinit(void)
     ble_log_spi_out_deinit();
 #endif // CONFIG_BT_BLE_LOG_SPI_OUT_ENABLED
 
+#if CONFIG_BT_BLE_LOG_UHCI_OUT_ENABLED
+    ble_log_uhci_out_deinit();
+#endif // CONFIG_BT_BLE_LOG_UHCI_OUT_ENABLED
+
 #if CONFIG_BT_LE_CONTROLLER_LOG_SPI_OUT_ENABLED
     r_ble_log_deinit_simple();
-#else // !CONFIG_BT_LE_CONTROLLER_LOG_SPI_OUT_ENABLED
+#elif CONFIG_BT_LE_CONTROLLER_LOG_UHCI_OUT_ENABLED
+    r_ble_log_deinit_simple();
+#else
     r_ble_log_deinit_async();
-#endif // CONFIG_BT_LE_CONTROLLER_LOG_SPI_OUT_ENABLED
+#endif
 
     log_is_inited = false;
 }
@@ -1406,7 +1432,7 @@ esp_power_level_t esp_ble_tx_power_get_enhanced(esp_ble_enhanced_power_type_t po
 }
 
 #if CONFIG_BT_LE_CONTROLLER_LOG_ENABLED
-#if !CONFIG_BT_LE_CONTROLLER_LOG_SPI_OUT_ENABLED
+#if !CONFIG_BT_LE_CONTROLLER_LOG_SPI_OUT_ENABLED && !CONFIG_BT_LE_CONTROLLER_LOG_UHCI_OUT_ENABLED
 static void esp_bt_controller_log_interface(uint32_t len, const uint8_t *addr, uint32_t len_append, const uint8_t *addr_append, uint32_t flag)
 {
     bool end = (flag & BIT(BLE_LOG_INTERFACE_FLAG_END));
@@ -1428,7 +1454,7 @@ static void esp_bt_controller_log_interface(uint32_t len, const uint8_t *addr, u
     portEXIT_CRITICAL_SAFE(&spinlock);
 #endif // CONFIG_BT_LE_CONTROLLER_LOG_STORAGE_ENABLE
 }
-#endif // !CONFIG_BT_LE_CONTROLLER_LOG_SPI_OUT_ENABLED
+#endif // !CONFIG_BT_LE_CONTROLLER_LOG_SPI_OUT_ENABLED && !CONFIG_BT_LE_CONTROLLER_LOG_UHCI_OUT_ENABLED
 
 void esp_ble_controller_log_dump_all(bool output)
 {
@@ -1436,9 +1462,13 @@ void esp_ble_controller_log_dump_all(bool output)
     ble_log_spi_out_dump_all();
 #endif // CONFIG_BT_BLE_LOG_SPI_OUT_ENABLED
 
+#if CONFIG_BT_BLE_LOG_UHCI_OUT_ENABLED
+    ble_log_uhci_out_dump_all();
+#endif // CONFIG_BT_BLE_LOG_UHCI_OUT_ENABLED
+
 #if CONFIG_BT_LE_CONTROLLER_LOG_STORAGE_ENABLE
     esp_bt_read_ctrl_log_from_flash(output);
-#elif !CONFIG_BT_LE_CONTROLLER_LOG_SPI_OUT_ENABLED
+#elif !CONFIG_BT_LE_CONTROLLER_LOG_SPI_OUT_ENABLED && !CONFIG_BT_LE_CONTROLLER_LOG_UHCI_OUT_ENABLED
     portMUX_TYPE spinlock = portMUX_INITIALIZER_UNLOCKED;
     portENTER_CRITICAL_SAFE(&spinlock);
     esp_panic_handler_feed_wdts();