diff --git a/components/lwip/Kconfig b/components/lwip/Kconfig
index 8411931b0b..647a28af87 100644
--- a/components/lwip/Kconfig
+++ b/components/lwip/Kconfig
@@ -352,6 +352,16 @@ menu "LWIP"
             Forwarding IPv6 packets between interfaces is only required when acting as
             a router.
 
+    config LWIP_IPV6_RDNSS_MAX_DNS_SERVERS
+        int "Use IPv6 Router Advertisement Recursive DNS Server Option"
+        depends on LWIP_IPV6
+        default 0
+        help
+            Use IPv6 Router Advertisement Recursive DNS Server Option (as per RFC 6106) to
+            copy a defined maximum number of DNS servers to the DNS module.
+            Set this option to a number of desired DNS servers advertised in the RA protocol.
+            This feature is disabled when set to 0.
+
     config LWIP_NETIF_STATUS_CALLBACK
         bool "Enable status callback for network interfaces"
         default n
diff --git a/components/lwip/port/esp32/include/lwipopts.h b/components/lwip/port/esp32/include/lwipopts.h
index 4d5809517a..ad89b8a8bf 100644
--- a/components/lwip/port/esp32/include/lwipopts.h
+++ b/components/lwip/port/esp32/include/lwipopts.h
@@ -967,6 +967,8 @@
 
 #define LWIP_IPV6_NUM_ADDRESSES         CONFIG_LWIP_IPV6_NUM_ADDRESSES
 
+#define LWIP_ND6_RDNSS_MAX_DNS_SERVERS  CONFIG_LWIP_IPV6_RDNSS_MAX_DNS_SERVERS
+
 /* Enable all Espressif-only options */
 
 #define ESP_LWIP                        1