diff --git a/components/asio/CMakeLists.txt b/components/asio/CMakeLists.txt
index c088644f9..e2421fead 100644
--- a/components/asio/CMakeLists.txt
+++ b/components/asio/CMakeLists.txt
@@ -1,3 +1,11 @@
+if(NOT CONFIG_LWIP_IPV6 AND NOT CMAKE_BUILD_EARLY_EXPANSION)
+    # note: the component is still included in the build so it can become visible again in config
+    # without needing to re-run CMake. However no source or header files are built.
+    message(STATUS "IPV6 support is disabled so the asio component will not be built")
+    idf_component_register()
+    return()
+endif()
+
 set(asio_sources "asio/asio/src/asio.cpp")
 
 if(CONFIG_ASIO_SSL_SUPPORT)
diff --git a/components/asio/Kconfig b/components/asio/Kconfig
index 582410e7c..3b488a0c3 100644
--- a/components/asio/Kconfig
+++ b/components/asio/Kconfig
@@ -1,4 +1,6 @@
 menu "ESP-ASIO"
+    visible if LWIP_IPV6
+
     config ASIO_SSL_SUPPORT
         bool "Enable SSL/TLS support of ASIO"
         default n
diff --git a/components/asio/component.mk b/components/asio/component.mk
index 30b2907bb..c93c8dbb9 100644
--- a/components/asio/component.mk
+++ b/components/asio/component.mk
@@ -1,3 +1,5 @@
+ifdef CONFIG_LWIP_IPV6
+
 COMPONENT_ADD_INCLUDEDIRS := asio/asio/include port/include
 COMPONENT_PRIV_INCLUDEDIRS := private_include
 COMPONENT_SRCDIRS := asio/asio/src port/src
@@ -7,3 +9,5 @@ COMPONENT_OBJEXCLUDE := asio/asio/src/asio_ssl.o port/src/esp_asio_openssl_stubs
 endif
 
 COMPONENT_SUBMODULES += asio
+
+endif # CONFIG_LWIP_IPV6