diff --git a/components/bt/host/nimble/Kconfig.in b/components/bt/host/nimble/Kconfig.in
index 27bb80ae13..953327fce5 100644
--- a/components/bt/host/nimble/Kconfig.in
+++ b/components/bt/host/nimble/Kconfig.in
@@ -1060,6 +1060,7 @@ config BT_NIMBLE_HIGH_DUTY_ADV_ITVL
 config BT_NIMBLE_HOST_ALLOW_CONNECT_WITH_SCAN
     bool "Allow Connections with scanning in progress"
     depends on BT_NIMBLE_ENABLED
+    depends on (!SOC_ESP_NIMBLE_CONTROLLER || IDF_TARGET_ESP32C6 || IDF_TARGET_ESP32H2)
     help
         This enables support for user to initiate a new connection with scan in progress