diff --git a/components/lwip/lwip b/components/lwip/lwip
index d2e3d21a85..149b87eba4 160000
--- a/components/lwip/lwip
+++ b/components/lwip/lwip
@@ -1 +1 @@
-Subproject commit d2e3d21a85bd2e92c9f5e7835eda6fa3ce451831
+Subproject commit 149b87eba4faf2198000e82d0364540aa63f98d7
diff --git a/examples/protocols/icmp_echo/main/echo_example_main.c b/examples/protocols/icmp_echo/main/echo_example_main.c
index a300757479..67f68093d2 100644
--- a/examples/protocols/icmp_echo/main/echo_example_main.c
+++ b/examples/protocols/icmp_echo/main/echo_example_main.c
@@ -62,11 +62,16 @@ static void cmd_ping_on_ping_end(esp_ping_handle_t hdl, void *args)
     } else {
         loss = 0;
     }
+#ifdef CONFIG_LWIP_IPV4
     if (IP_IS_V4(&target_addr)) {
         printf("\n--- %s ping statistics ---\n", inet_ntoa(*ip_2_ip4(&target_addr)));
-    } else {
+    }
+#endif
+#ifdef CONFIG_LWIP_IPV6
+    if (IP_IS_V6(&target_addr)) {
         printf("\n--- %s ping statistics ---\n", inet6_ntoa(*ip_2_ip6(&target_addr)));
     }
+#endif
     printf("%" PRIu32 " packets transmitted, %" PRIu32 " received, %" PRIu32 "%% packet loss, time %" PRIu32 "ms\n",
            transmitted, received, loss, total_time_ms);
     // delete the ping sessions, so that we clean up all resources and can create a new ping session
@@ -81,6 +86,7 @@ static struct {
     struct arg_int *count;
     struct arg_int *tos;
     struct arg_int *ttl;
+    struct arg_int *interface;
     struct arg_str *host;
     struct arg_end *end;
 } ping_args;
@@ -119,6 +125,10 @@ static int do_ping_cmd(int argc, char **argv)
         config.ttl = (uint32_t)(ping_args.ttl->ival[0]);
     }
 
+    if (ping_args.interface->count > 0) {
+        config.interface = (uint32_t)(ping_args.interface->ival[0]);
+    }
+
     // parse IP address
     struct sockaddr_in6 sock_addr6;
     ip_addr_t target_addr;
@@ -136,13 +146,18 @@ static int do_ping_cmd(int argc, char **argv)
             printf("ping: unknown host %s\n", ping_args.host->sval[0]);
             return 1;
         }
+#ifdef CONFIG_LWIP_IPV4
         if (res->ai_family == AF_INET) {
             struct in_addr addr4 = ((struct sockaddr_in *) (res->ai_addr))->sin_addr;
             inet_addr_to_ip4addr(ip_2_ip4(&target_addr), &addr4);
-        } else {
+        }
+#endif
+#ifdef CONFIG_LWIP_IPV6
+        if (res->ai_family == AF_INET6) {
             struct in6_addr addr6 = ((struct sockaddr_in6 *) (res->ai_addr))->sin6_addr;
             inet6_addr_to_ip6addr(ip_2_ip6(&target_addr), &addr6);
         }
+#endif
         freeaddrinfo(res);
     }
     config.target_addr = target_addr;
@@ -169,6 +184,7 @@ static void register_ping(void)
     ping_args.count = arg_int0("c", "count", "<n>", "Stop after sending count packets");
     ping_args.tos = arg_int0("Q", "tos", "<n>", "Set Type of Service related bits in IP datagrams");
     ping_args.ttl = arg_int0("T", "ttl", "<n>", "Set Time to Live related bits in IP datagrams");
+    ping_args.interface = arg_int0("I", "interface", "<n>", "Set Interface number");
     ping_args.host = arg_str1(NULL, NULL, "<host>", "Host address");
     ping_args.end = arg_end(1);
     const esp_console_cmd_t ping_cmd = {
@@ -232,6 +248,9 @@ void app_main(void)
     /* automatic connection per menuconfig */
     ESP_ERROR_CHECK(example_connect());
 #endif
+    struct ifreq ifr;
+    ESP_ERROR_CHECK(esp_netif_get_netif_impl_name(EXAMPLE_INTERFACE, ifr.ifr_name));
+    printf("Connected on interface: %s (%d)", ifr.ifr_name, esp_netif_get_netif_impl_index(EXAMPLE_INTERFACE));
 
     /* register command `ping` */
     register_ping();
diff --git a/examples/protocols/icmp_echo/pytest_icmp_echo.py b/examples/protocols/icmp_echo/pytest_icmp_echo.py
index cd00ff645e..6496613f45 100644
--- a/examples/protocols/icmp_echo/pytest_icmp_echo.py
+++ b/examples/protocols/icmp_echo/pytest_icmp_echo.py
@@ -1,6 +1,6 @@
-# SPDX-FileCopyrightText: 2021-2023 Espressif Systems (Shanghai) CO LTD
+# SPDX-FileCopyrightText: 2021-2024 Espressif Systems (Shanghai) CO LTD
 # SPDX-License-Identifier: Apache-2.0
-
+import logging
 import os
 
 import pytest
@@ -55,3 +55,33 @@ def test_protocols_icmp_echo(dut: Dut) -> None:
 )
 def test_protocols_icmp_echo_esp32c2_26mhz(dut: Dut) -> None:
     _run_test(dut)
+
+
+@pytest.mark.esp32
+@pytest.mark.wifi_router
+@pytest.mark.parametrize('config', ['ipv6_only',], indirect=True)
+def test_protocols_icmp_echo_ipv6_only(dut: Dut) -> None:
+    # Parse IP address of STA
+    logging.info('Waiting to connect with AP')
+    if dut.app.sdkconfig.get('EXAMPLE_WIFI_SSID_PWD_FROM_STDIN') is True:
+        dut.expect('Please input ssid password:')
+        env_name = 'wifi_router'
+        ap_ssid = get_env_config_variable(env_name, 'ap_ssid')
+        ap_password = get_env_config_variable(env_name, 'ap_password')
+        dut.write(f'{ap_ssid} {ap_password}')
+    # expect all 8 octets from IPv6 (assumes it's printed in the long form)
+    ipv6_r = r':'.join((r'[0-9a-fA-F]{4}',) * 8)
+    ipv6 = dut.expect(ipv6_r, timeout=30)[0].decode()
+    logging.info(f'Connected AP with IPv6={ipv6}')
+    interface_nr = dut.expect(r'Connected on interface: [a-z]{2}\d \((\d+)\)', timeout=30)[1].decode()
+
+    # ping our own address to simplify things
+    dut.write('ping -I {} {} -c 5'.format(interface_nr, ipv6))
+
+    # expect at least two packets (there could be lost packets)
+    ip = dut.expect(r'64 bytes from ([0-9a-fA-F:]+) icmp_seq=\d ttl=\d+ time=\d+ ms')[1].decode()
+    dut.expect(fr'64 bytes from {ip} icmp_seq=[2-5] ttl=\d+ time=')
+
+    dut.expect(r'5 packets transmitted, [2-5] received, \d{1,3}% packet loss')
+    dut.write('')
+    dut.expect('esp>')
diff --git a/examples/protocols/icmp_echo/sdkconfig.ci.ipv6_only b/examples/protocols/icmp_echo/sdkconfig.ci.ipv6_only
new file mode 100644
index 0000000000..4d475d3f8d
--- /dev/null
+++ b/examples/protocols/icmp_echo/sdkconfig.ci.ipv6_only
@@ -0,0 +1,6 @@
+CONFIG_IDF_TARGET="esp32"
+CONFIG_EXAMPLE_WIFI_SSID_PWD_FROM_STDIN=y
+CONFIG_EXAMPLE_CONNECT_IPV4=n
+CONFIG_EXAMPLE_CONNECT_IPV6=y
+CONFIG_LWIP_IPV4=n
+CONFIG_LWIP_IPV6=y