diff --git a/tools/ci/executable-list.txt b/tools/ci/executable-list.txt
index bad335f8a3..9ae3ae702e 100644
--- a/tools/ci/executable-list.txt
+++ b/tools/ci/executable-list.txt
@@ -49,6 +49,7 @@ tools/ci/test_build_system_cmake.sh
 tools/ci/test_configure_ci_environment.sh
 tools/cmake/convert_to_cmake.py
 tools/cmake/run_cmake_lint.sh
+tools/docker/entrypoint.sh
 tools/elf_to_ld.sh
 tools/esp_app_trace/logtrace_proc.py
 tools/esp_app_trace/sysviewtrace_proc.py
diff --git a/tools/docker/Dockerfile b/tools/docker/Dockerfile
new file mode 100644
index 0000000000..05db8cb89b
--- /dev/null
+++ b/tools/docker/Dockerfile
@@ -0,0 +1,62 @@
+FROM ubuntu:18.04
+
+ARG DEBIAN_FRONTEND=noninteractive
+
+RUN apt-get update && apt-get install -y \
+    apt-utils \
+    bison \
+    ca-certificates \
+    ccache \
+    check \
+    cmake \
+    curl \
+    flex \
+    git \
+    gperf \
+    lcov \
+    libncurses-dev \
+    libusb-1.0-0-dev \
+    make \
+    ninja-build \
+    python3 \
+    python3-pip \
+    unzip \
+    wget \
+    xz-utils \
+    zip \
+   && apt-get autoremove -y \
+   && rm -rf /var/lib/apt/lists/* \
+   && update-alternatives --install /usr/bin/python python /usr/bin/python3 10
+
+RUN python -m pip install --upgrade pip virtualenv
+
+# To build the image for a branch or a tag of IDF, pass --build-arg IDF_CLONE_BRANCH_OR_TAG=name.
+# To build the image with a specific commit ID of IDF, pass --build-arg IDF_CHECKOUT_REF=commit-id.
+# It is possibe to combine both, e.g.:
+#   IDF_CLONE_BRANCH_OR_TAG=release/vX.Y
+#   IDF_CHECKOUT_REF=<some commit on release/vX.Y branch>.
+
+ARG IDF_CLONE_URL=https://github.com/espressif/esp-idf.git
+ARG IDF_CLONE_BRANCH_OR_TAG=master
+ARG IDF_CHECKOUT_REF=
+
+ENV IDF_PATH=/opt/esp/idf
+ENV IDF_TOOLS_PATH=/opt/esp
+
+RUN echo IDF_CHECKOUT_REF=$IDF_CHECKOUT_REF IDF_CLONE_BRANCH_OR_TAG=$IDF_CLONE_BRANCH_OR_TAG && \
+    git clone --recursive \
+      ${IDF_CLONE_BRANCH_OR_TAG:+-b $IDF_CLONE_BRANCH_OR_TAG} \
+      $IDF_CLONE_URL $IDF_PATH && \
+    if [ -n "$IDF_CHECKOUT_REF" ]; then \
+      cd $IDF_PATH && \
+      git checkout $IDF_CHECKOUT_REF && \
+      git submodule update --init --recursive; \
+    fi
+
+RUN $IDF_PATH/install.sh && \
+  rm -rf $IDF_TOOLS_PATH/dist
+
+COPY entrypoint.sh /opt/esp/entrypoint.sh
+
+ENTRYPOINT [ "/opt/esp/entrypoint.sh" ]
+CMD [ "/bin/bash" ]
diff --git a/tools/docker/entrypoint.sh b/tools/docker/entrypoint.sh
new file mode 100755
index 0000000000..bb1d3e65a5
--- /dev/null
+++ b/tools/docker/entrypoint.sh
@@ -0,0 +1,6 @@
+#!/bin/bash
+set -e
+
+. $IDF_PATH/export.sh
+
+exec "$@"