diff --git a/components/esp_modem/CMakeLists.txt b/components/esp_modem/CMakeLists.txt
index fbede4026..c205e8b85 100644
--- a/components/esp_modem/CMakeLists.txt
+++ b/components/esp_modem/CMakeLists.txt
@@ -11,7 +11,12 @@ else()
                       src/esp_modem_uart.cpp
                       src/esp_modem_term_uart.cpp
                       src/esp_modem_netif.cpp)
-    set(dependencies driver esp_event esp_netif)
+    set(dependencies esp_event esp_netif)
+    if("${IDF_VERSION_MAJOR}.${IDF_VERSION_MINOR}" VERSION_GREATER "5.3")
+        list(APPEND dependencies esp_driver_uart)
+    else()
+        list(APPEND dependencies driver)
+    endif()
 endif()