diff --git a/components/soc/esp32p4/include/soc/Kconfig.soc_caps.in b/components/soc/esp32p4/include/soc/Kconfig.soc_caps.in
index df74111cc2..4510070e4e 100644
--- a/components/soc/esp32p4/include/soc/Kconfig.soc_caps.in
+++ b/components/soc/esp32p4/include/soc/Kconfig.soc_caps.in
@@ -199,6 +199,10 @@ config SOC_LP_PERIPHERALS_SUPPORTED
     bool
     default y
 
+config SOC_LP_I2C_SUPPORTED
+    bool
+    default y
+
 config SOC_SPIRAM_SUPPORTED
     bool
     default y
@@ -615,6 +619,14 @@ config SOC_I2C_SLAVE_SUPPORT_SLAVE_UNMATCH
     bool
     default y
 
+config SOC_LP_I2C_NUM
+    int
+    default 1
+
+config SOC_LP_I2C_FIFO_LEN
+    int
+    default 16
+
 config SOC_I2S_NUM
     int
     default 3
diff --git a/components/soc/esp32p4/include/soc/soc_caps.h b/components/soc/esp32p4/include/soc/soc_caps.h
index 2ccdeb3908..aff18e68db 100644
--- a/components/soc/esp32p4/include/soc/soc_caps.h
+++ b/components/soc/esp32p4/include/soc/soc_caps.h
@@ -75,6 +75,7 @@
 #define SOC_ULP_LP_UART_SUPPORTED       1
 #define SOC_LP_GPIO_MATRIX_SUPPORTED    1
 #define SOC_LP_PERIPHERALS_SUPPORTED    1
+#define SOC_LP_I2C_SUPPORTED            1
 #define SOC_SPIRAM_SUPPORTED            1
 #define SOC_PSRAM_DMA_CAPABLE           1
 // #define SOC_ULP_SUPPORTED               1  //TODO: IDF-7534
@@ -268,6 +269,12 @@
 #define SOC_I2C_SLAVE_SUPPORT_I2CRAM_ACCESS   (1)
 #define SOC_I2C_SLAVE_SUPPORT_SLAVE_UNMATCH    (1)
 
+/*-------------------------- LP_I2C CAPS -------------------------------------*/
+// ESP32-P4 has 1 LP_I2C
+#define SOC_LP_I2C_NUM              (1U)
+
+#define SOC_LP_I2C_FIFO_LEN         (16) /*!< LP_I2C hardware FIFO depth */
+
 /*-------------------------- I2S CAPS ----------------------------------------*/
 #define SOC_I2S_NUM                 (3U)
 #define SOC_I2S_HW_VERSION_2        (1)
diff --git a/components/ulp/CMakeLists.txt b/components/ulp/CMakeLists.txt
index f4f0178ad4..ba78779040 100644
--- a/components/ulp/CMakeLists.txt
+++ b/components/ulp/CMakeLists.txt
@@ -59,7 +59,6 @@ if(CONFIG_ULP_COPROC_TYPE_LP_CORE)
     endif()
 
     if(CONFIG_SOC_LP_I2C_SUPPORTED)
-        # Add to P4 TODO IDF-7540
         list(APPEND srcs "lp_core/lp_core_i2c.c")
     endif()
 
diff --git a/components/ulp/lp_core/lp_core/lp_core_i2c.c b/components/ulp/lp_core/lp_core/lp_core_i2c.c
index 524b8cadd3..7cbb4b9490 100644
--- a/components/ulp/lp_core/lp_core/lp_core_i2c.c
+++ b/components/ulp/lp_core/lp_core/lp_core_i2c.c
@@ -481,4 +481,4 @@ esp_err_t lp_core_i2c_master_write_read_device(i2c_port_t lp_i2c_num, uint16_t d
     return ret;
 }
 
-#endif //!SOC_LP_I2C_SUPPORTED
+#endif /* SOC_LP_I2C_SUPPORTED */
diff --git a/components/ulp/lp_core/lp_core_i2c.c b/components/ulp/lp_core/lp_core_i2c.c
index 58d74eb9ee..0d41f7fba1 100644
--- a/components/ulp/lp_core/lp_core_i2c.c
+++ b/components/ulp/lp_core/lp_core_i2c.c
@@ -7,7 +7,6 @@
 #include "lp_core_i2c.h"
 #include "esp_check.h"
 #include "hal/i2c_hal.h"
-#include "soc/lp_io_struct.h"
 #include "driver/rtc_io.h"
 #include "soc/rtc_io_channel.h"
 #include "esp_private/esp_clk_tree_common.h"
@@ -15,20 +14,28 @@
 
 static const char *LPI2C_TAG = "lp_core_i2c";
 
+#if !SOC_LP_GPIO_MATRIX_SUPPORTED
+#include "soc/lp_io_struct.h"
+
+/* Use the register structure to access LP_IO module registers */
+lp_io_dev_t *lp_io_dev = &LP_IO;
+#else
+#include "driver/lp_io.h"
+#include "soc/lp_gpio_sig_map.h"
+#endif /* !SOC_LP_GPIO_MATRIX_SUPPORTED */
+
 #define LP_I2C_FILTER_CYC_NUM_DEF       (7)
 
 /* I2C LL context */
 i2c_hal_context_t i2c_hal;
 
-/* Use the register structure to access LP_IO module registers */
-lp_io_dev_t *lp_io_dev = &LP_IO;
-
 static esp_err_t lp_i2c_gpio_is_cfg_valid(gpio_num_t sda_io_num, gpio_num_t scl_io_num)
 {
     /* Verify that the SDA and SCL GPIOs are valid LP IO (RTCIO) pins */
     ESP_RETURN_ON_ERROR(!rtc_gpio_is_valid_gpio(sda_io_num), LPI2C_TAG, "LP I2C SDA GPIO invalid");
     ESP_RETURN_ON_ERROR(!rtc_gpio_is_valid_gpio(scl_io_num), LPI2C_TAG, "LP I2C SCL GPIO invalid");
 
+#if !SOC_LP_GPIO_MATRIX_SUPPORTED
     /* Verify that the SDA and SCL line belong to the LP IO Mux I2C function group */
     if (sda_io_num != RTCIO_GPIO6_CHANNEL) {
         ESP_LOGE(LPI2C_TAG, "SDA pin can only be configured as GPIO#6");
@@ -39,6 +46,7 @@ static esp_err_t lp_i2c_gpio_is_cfg_valid(gpio_num_t sda_io_num, gpio_num_t scl_
         ESP_LOGE(LPI2C_TAG, "SCL pin can only be configured as GPIO#7");
         return ESP_ERR_INVALID_ARG;
     }
+#endif /* !SOC_LP_GPIO_MATRIX_SUPPORTED */
 
     return ESP_OK;
 }
@@ -64,6 +72,8 @@ static esp_err_t lp_i2c_configure_io(gpio_num_t io_num, bool pullup_en)
 
 static esp_err_t lp_i2c_set_pin(const lp_core_i2c_cfg_t *cfg)
 {
+    esp_err_t ret = ESP_OK;
+
     gpio_num_t sda_io_num = cfg->i2c_pin_cfg.sda_io_num;
     gpio_num_t scl_io_num = cfg->i2c_pin_cfg.scl_io_num;
     bool sda_pullup_en = cfg->i2c_pin_cfg.sda_pullup_en;
@@ -78,13 +88,23 @@ static esp_err_t lp_i2c_set_pin(const lp_core_i2c_cfg_t *cfg)
     /* Initialize SCL Pin */
     ESP_RETURN_ON_ERROR(lp_i2c_configure_io(scl_io_num, scl_pullup_en), LPI2C_TAG, "LP I2C SCL pin config failed");
 
+#if !SOC_LP_GPIO_MATRIX_SUPPORTED
     /* Select LP I2C function for the SDA Pin */
     lp_io_dev->gpio[sda_io_num].mcu_sel = 1;
 
     /* Select LP I2C function for the SCL Pin */
     lp_io_dev->gpio[scl_io_num].mcu_sel = 1;
+#else
+    /* Connect the SDA pin of the LP_I2C peripheral to the LP_IO Matrix */
+    ret = lp_gpio_connect_out_signal(sda_io_num, LP_I2C_SDA_PAD_OUT_IDX, 0, 0);
+    ret = lp_gpio_connect_in_signal(sda_io_num, LP_I2C_SDA_PAD_IN_IDX, 0);
 
-    return ESP_OK;
+    /* Connect the SCL pin of the LP_I2C peripheral to the LP_IO Matrix */
+    ret = lp_gpio_connect_out_signal(scl_io_num, LP_I2C_SCL_PAD_OUT_IDX, 0, 0);
+    ret = lp_gpio_connect_in_signal(scl_io_num, LP_I2C_SCL_PAD_IN_IDX, 0);
+#endif /* !SOC_LP_GPIO_MATRIX_SUPPORTED */
+
+    return ret;
 }
 
 static esp_err_t lp_i2c_config_clk(const lp_core_i2c_cfg_t *cfg)
@@ -112,10 +132,10 @@ static esp_err_t lp_i2c_config_clk(const lp_core_i2c_cfg_t *cfg)
     /* LP I2C clock source is mixed with other peripherals in the same register */
     PERIPH_RCC_ATOMIC() {
         lp_i2c_ll_set_source_clk(i2c_hal.dev, source_clk);
-    }
 
-    /* Configure LP I2C timing paramters. source_clk is ignored for LP_I2C in this call */
-    i2c_hal_set_bus_timing(&i2c_hal, cfg->i2c_timing_cfg.clk_speed_hz, (i2c_clock_source_t)source_clk, source_freq);
+        /* Configure LP I2C timing parameters. source_clk is ignored for LP_I2C in this call */
+        i2c_hal_set_bus_timing(&i2c_hal, cfg->i2c_timing_cfg.clk_speed_hz, (i2c_clock_source_t)source_clk, source_freq);
+    }
 
     return ret;
 }
@@ -134,12 +154,13 @@ esp_err_t lp_core_i2c_master_init(i2c_port_t lp_i2c_num, const lp_core_i2c_cfg_t
     PERIPH_RCC_ATOMIC() {
         /* Enable LP I2C bus clock */
         lp_i2c_ll_enable_bus_clock(lp_i2c_num - LP_I2C_NUM_0, true);
+
         /* Reset LP I2C register */
         lp_i2c_ll_reset_register(lp_i2c_num - LP_I2C_NUM_0);
-    }
 
-    /* Initialize LP I2C HAL */
-    i2c_hal_init(&i2c_hal, lp_i2c_num);
+        /* Initialize LP I2C HAL */
+        i2c_hal_init(&i2c_hal, lp_i2c_num);
+    }
 
     /* Initialize LP I2C Master mode */
     i2c_hal_master_init(&i2c_hal);
@@ -148,7 +169,7 @@ esp_err_t lp_core_i2c_master_init(i2c_port_t lp_i2c_num, const lp_core_i2c_cfg_t
     i2c_hal.dev->ctr.sda_force_out = 0;
     i2c_hal.dev->ctr.scl_force_out = 0;
 
-    /* Configure LP I2C clock and timing paramters */
+    /* Configure LP I2C clock and timing parameters */
     ESP_RETURN_ON_ERROR(lp_i2c_config_clk(cfg), LPI2C_TAG, "Failed to configure LP I2C source clock");
 
     /* Enable SDA and SCL filtering. This configuration matches the HP I2C filter config */
diff --git a/components/ulp/test_apps/lp_core/pytest_lp_core.py b/components/ulp/test_apps/lp_core/pytest_lp_core.py
index 6c14deba2a..24fdcd3bdf 100644
--- a/components/ulp/test_apps/lp_core/pytest_lp_core.py
+++ b/components/ulp/test_apps/lp_core/pytest_lp_core.py
@@ -12,6 +12,7 @@ def test_lp_core(dut: Dut) -> None:
 
 
 @pytest.mark.esp32c6
+# TODO: Enable LP I2C test for esp32p4 (IDF-9407)
 @pytest.mark.generic_multi_device
 @pytest.mark.parametrize(
     'count', [2], indirect=True
diff --git a/examples/system/.build-test-rules.yml b/examples/system/.build-test-rules.yml
index 5113c2c41e..d483ebeb81 100644
--- a/examples/system/.build-test-rules.yml
+++ b/examples/system/.build-test-rules.yml
@@ -276,7 +276,7 @@ examples/system/ulp/lp_core/lp_i2c:
   disable:
     - if: IDF_TARGET == "esp32p4"
       temporary: true
-      reason: target esp32p4 is not supported yet, TODO IDF-7540
+      reason: target esp32p4 is not supported yet, TODO IDF-9407
   depends_components:
     - ulp