diff --git a/components/esp_timer/Kconfig b/components/esp_timer/Kconfig
index 8bf69e49ca..8289d46691 100644
--- a/components/esp_timer/Kconfig
+++ b/components/esp_timer/Kconfig
@@ -32,6 +32,15 @@ menu "High resolution timer (esp_timer)"
             FreeRTOS timer task size, see "FreeRTOS timer task stack size" option
             in "FreeRTOS" menu.
 
+    config ESP_TIMER_INTERRUPT_LEVEL
+        int "Interrupt level"
+        default 1
+        range 1 3 if IDF_TARGET_ESP32
+        range 1 1 if !IDF_TARGET_ESP32
+        help
+            It sets the interrupt level for esp_timer ISR in range 1..3.
+            A higher level (3) helps to decrease the ISR esp_timer latency.
+
     choice ESP_TIMER_IMPL
         prompt "Hardware timer to use for esp_timer"
         default ESP_TIMER_IMPL_TG0_LAC if IDF_TARGET_ESP32
diff --git a/components/esp_timer/src/esp_timer_impl_frc_legacy.c b/components/esp_timer/src/esp_timer_impl_frc_legacy.c
index 0fc85ed0b0..bf685da9b4 100644
--- a/components/esp_timer/src/esp_timer_impl_frc_legacy.c
+++ b/components/esp_timer/src/esp_timer_impl_frc_legacy.c
@@ -360,8 +360,9 @@ esp_err_t esp_timer_impl_init(intr_handler_t alarm_handler)
 {
     s_alarm_handler = alarm_handler;
 
+    const int interrupt_lvl = (1 << CONFIG_ESP_TIMER_INTERRUPT_LEVEL) & ESP_INTR_FLAG_LEVELMASK;
     esp_err_t err = esp_intr_alloc(ETS_TIMER2_INTR_SOURCE,
-            ESP_INTR_FLAG_INTRDISABLED | ESP_INTR_FLAG_IRAM,
+            ESP_INTR_FLAG_INTRDISABLED | ESP_INTR_FLAG_IRAM | interrupt_lvl,
             &timer_alarm_isr, NULL, &s_timer_interrupt_handle);
 
     if (err != ESP_OK) {
diff --git a/components/esp_timer/src/esp_timer_impl_lac.c b/components/esp_timer/src/esp_timer_impl_lac.c
index f8ca8d5461..1aaa80bbca 100644
--- a/components/esp_timer/src/esp_timer_impl_lac.c
+++ b/components/esp_timer/src/esp_timer_impl_lac.c
@@ -222,8 +222,9 @@ esp_err_t esp_timer_impl_init(intr_handler_t alarm_handler)
     REG_WRITE(LOAD_REG, 1);
     REG_SET_BIT(INT_CLR_REG, TIMG_LACT_INT_CLR);
 
+    const int interrupt_lvl = (1 << CONFIG_ESP_TIMER_INTERRUPT_LEVEL) & ESP_INTR_FLAG_LEVELMASK;
     esp_err_t err = esp_intr_alloc(INTR_SOURCE_LACT,
-            ESP_INTR_FLAG_INTRDISABLED | ESP_INTR_FLAG_IRAM,
+            ESP_INTR_FLAG_INTRDISABLED | ESP_INTR_FLAG_IRAM | interrupt_lvl,
             &timer_alarm_isr, NULL, &s_timer_interrupt_handle);
 
     if (err != ESP_OK) {
diff --git a/components/esp_timer/src/esp_timer_impl_systimer.c b/components/esp_timer/src/esp_timer_impl_systimer.c
index 3272fad348..a563d1b977 100644
--- a/components/esp_timer/src/esp_timer_impl_systimer.c
+++ b/components/esp_timer/src/esp_timer_impl_systimer.c
@@ -103,13 +103,14 @@ void esp_timer_impl_advance(int64_t time_us)
 esp_err_t esp_timer_impl_init(intr_handler_t alarm_handler)
 {
     s_alarm_handler = alarm_handler;
+    const int interrupt_lvl = (1 << CONFIG_ESP_TIMER_INTERRUPT_LEVEL) & ESP_INTR_FLAG_LEVELMASK;
 #if SOC_SYSTIMER_INT_LEVEL
     int int_type = 0;
 #else
     int int_type = ESP_INTR_FLAG_EDGE;
 #endif // SOC_SYSTIMER_INT_LEVEL
     esp_err_t err = esp_intr_alloc(ETS_SYSTIMER_TARGET2_EDGE_INTR_SOURCE,
-                                   ESP_INTR_FLAG_INTRDISABLED | ESP_INTR_FLAG_IRAM | int_type,
+                                   ESP_INTR_FLAG_INTRDISABLED | ESP_INTR_FLAG_IRAM | int_type | interrupt_lvl,
                                    &timer_alarm_isr, NULL, &s_timer_interrupt_handle);
 
     if (err != ESP_OK) {