diff --git a/components/ulp/cmake/CMakeLists.txt b/components/ulp/cmake/CMakeLists.txt
index 9adaa36c40..545b863d1a 100644
--- a/components/ulp/cmake/CMakeLists.txt
+++ b/components/ulp/cmake/CMakeLists.txt
@@ -69,6 +69,7 @@ if(ULP_COCPU_IS_RISCV)
     target_include_directories(${ULP_APP_NAME} PRIVATE "${IDF_PATH}/components/ulp/ulp_riscv/ulp_core/include"
                                                        "${IDF_PATH}/components/ulp/ulp_riscv/shared/include")
     target_link_options(${ULP_APP_NAME} PRIVATE SHELL:-T ${IDF_PATH}/components/ulp/ld/${IDF_TARGET}.peripherals.ld)
+    target_link_options(${ULP_APP_NAME} PRIVATE "-Wl,--no-warn-rwx-segments")
     target_compile_definitions(${ULP_APP_NAME} PRIVATE IS_ULP_COCPU)
 
 else()
diff --git a/tools/cmake/project.cmake b/tools/cmake/project.cmake
index a6d8273f11..00d94c8a6a 100644
--- a/tools/cmake/project.cmake
+++ b/tools/cmake/project.cmake
@@ -559,6 +559,15 @@ macro(project project_name)
         target_link_options(${project_elf} PRIVATE "-Wl,--defsym=IDF_TARGET_${idf_target}=0")
         # Enable map file output
         target_link_options(${project_elf} PRIVATE "-Wl,--Map=${mapfile}")
+        # Check if linker supports --no-warn-rwx-segments
+        execute_process(COMMAND ${CMAKE_LINKER} "--no-warn-rwx-segments" "--version"
+            RESULT_VARIABLE result
+            OUTPUT_QUIET
+            ERROR_QUIET)
+        if(${result} EQUAL 0)
+            # Do not print RWX segment warnings
+            target_link_options(${project_elf} PRIVATE "-Wl,--no-warn-rwx-segments")
+        endif()
         unset(idf_target)
     endif()