diff --git a/components/esp_http_client/esp_http_client.c b/components/esp_http_client/esp_http_client.c
index d480a0e2a7..1b120532c5 100644
--- a/components/esp_http_client/esp_http_client.c
+++ b/components/esp_http_client/esp_http_client.c
@@ -579,6 +579,7 @@ static esp_err_t _clear_auth_data(esp_http_client_handle_t client)
     free(client->auth_data->qop);
     free(client->auth_data->nonce);
     free(client->auth_data->opaque);
+    free(client->auth_data->uri);
     memset(client->auth_data, 0, sizeof(esp_http_auth_data_t));
     return ESP_OK;
 }
@@ -610,7 +611,12 @@ static esp_err_t esp_http_client_prepare(esp_http_client_handle_t client)
             auth_response = http_auth_basic(client->connection_info.username, client->connection_info.password);
 #ifdef CONFIG_ESP_HTTP_CLIENT_ENABLE_DIGEST_AUTH
         } else if (client->connection_info.auth_type == HTTP_AUTH_TYPE_DIGEST && client->auth_data) {
-            client->auth_data->uri = client->connection_info.path;
+            client->auth_data->uri = NULL;
+            http_utils_assign_string(&client->auth_data->uri,client->connection_info.path,-1);
+            if (client->connection_info.query){
+                http_utils_append_string(&client->auth_data->uri,"?",-1);
+                http_utils_append_string(&client->auth_data->uri,client->connection_info.query,-1);
+            }
             client->auth_data->cnonce = ((uint64_t)esp_random() << 32) + esp_random();
             auth_response = http_auth_digest(client->connection_info.username, client->connection_info.password, client->auth_data);
             client->auth_data->nc ++;
@@ -1754,6 +1760,9 @@ void esp_http_client_add_auth(esp_http_client_handle_t client)
         client->auth_data->nc = 1;
         client->auth_data->realm = http_utils_get_string_between(auth_header, "realm=\"", "\"");
         client->auth_data->algorithm = http_utils_get_string_between(auth_header, "algorithm=", ",");
+        if (client->auth_data->algorithm == NULL) {
+            client->auth_data->algorithm = http_utils_get_string_after(auth_header, "algorithm=");
+        }
         if (client->auth_data->algorithm == NULL) {
             client->auth_data->algorithm = strdup("MD5");
         }
diff --git a/components/esp_http_client/lib/http_auth.c b/components/esp_http_client/lib/http_auth.c
index 6b8e092402..a478660b20 100644
--- a/components/esp_http_client/lib/http_auth.c
+++ b/components/esp_http_client/lib/http_auth.c
@@ -12,6 +12,7 @@
 #include "sys/socket.h"
 #include "esp_rom_md5.h"
 #include "esp_tls_crypto.h"
+#include "mbedtls/sha256.h"
 
 #include "esp_log.h"
 #include "esp_check.h"
@@ -20,6 +21,8 @@
 #include "http_auth.h"
 
 #define MD5_MAX_LEN (33)
+#define SHA256_LEN (32)
+#define SHA256_HEX_LEN (65)
 #define HTTP_AUTH_BUF_LEN (1024)
 
 static const char *TAG = "HTTP_AUTH";
@@ -59,6 +62,54 @@ static int md5_printf(char *md, const char *fmt, ...)
     return MD5_MAX_LEN;
 }
 
+/**
+ * @brief      This function hash a formatted string with SHA256 and format the result as ascii characters
+ *
+ * @param      sha          The buffer will hold the ascii result
+ * @param[in]  fmt          The format
+ *
+ * @return     Length of the result
+ */
+static int sha256_sprintf(char *sha, const char *fmt, ...)
+{
+
+    unsigned char *buf;
+    unsigned char digest[SHA256_LEN];
+    int len, i;
+    va_list ap;
+    va_start(ap, fmt);
+    len = vasprintf((char **)&buf, fmt, ap);
+    if (buf == NULL) {
+        va_end(ap);
+        return ESP_FAIL;
+    }
+
+    int ret = 0;
+    mbedtls_sha256_context sha256;
+    mbedtls_sha256_init(&sha256);
+    if (mbedtls_sha256_starts(&sha256, 0) != 0) {
+        goto exit;
+    }
+    if (mbedtls_sha256_update(&sha256, buf, len) != 0) {
+        goto exit;
+    }
+    if (mbedtls_sha256_finish(&sha256, digest) != 0) {
+        goto exit;
+    }
+
+    for (i = 0; i < 32; ++i) {
+        sprintf(&sha[i * 2], "%02x", (unsigned int)digest[i]);
+    }
+    sha[SHA256_HEX_LEN - 1] = '\0';
+    ret = SHA256_HEX_LEN;
+
+exit:
+    free(buf);
+    mbedtls_sha256_free(&sha256);
+    va_end(ap);
+    return ret;
+}
+
 char *http_auth_digest(const char *username, const char *password, esp_http_auth_data_t *auth_data)
 {
     char *ha1, *ha2 = NULL;
@@ -68,57 +119,67 @@ char *http_auth_digest(const char *username, const char *password, esp_http_auth
     esp_err_t ret = ESP_OK;
 
     if (username == NULL ||
-        password == NULL ||
-        auth_data->nonce == NULL ||
-        auth_data->uri == NULL ||
-        auth_data->realm == NULL) {
+            password == NULL ||
+            auth_data->nonce == NULL ||
+            auth_data->uri == NULL ||
+            auth_data->realm == NULL) {
         return NULL;
     }
 
-    ha1 = calloc(1, MD5_MAX_LEN);
+    int digest_size = MD5_MAX_LEN;
+    int (*digest_func)(char *digest, const char *fmt, ...) = md5_printf;
+    if (!memcmp(auth_data->algorithm, "SHA256", strlen("SHA256")) ||
+            !memcmp(auth_data->algorithm, "SHA-256", strlen("SHA-256"))) {
+        digest_size = SHA256_HEX_LEN;
+        digest_func = sha256_sprintf;
+    }
+
+    ha1 = calloc(1, digest_size);
     ESP_GOTO_ON_FALSE(ha1, ESP_FAIL, _digest_exit, TAG, "Memory exhausted");
 
-    ha2 = calloc(1, MD5_MAX_LEN);
+    ha2 = calloc(1, digest_size);
     ESP_GOTO_ON_FALSE(ha2, ESP_FAIL, _digest_exit, TAG, "Memory exhausted");
 
-    digest = calloc(1, MD5_MAX_LEN);
+    digest = calloc(1, digest_size);
     ESP_GOTO_ON_FALSE(digest, ESP_FAIL, _digest_exit, TAG, "Memory exhausted");
 
-    if (md5_printf(ha1, "%s:%s:%s", username, auth_data->realm, password) <= 0) {
+    if (digest_func(ha1, "%s:%s:%s", username, auth_data->realm, password) <= 0) {
         goto _digest_exit;
     }
 
     ESP_LOGD(TAG, "%s %s %s %s", "Digest", username, auth_data->realm, password);
-    if (strcasecmp(auth_data->algorithm, "md5-sess") == 0) {
-        if (md5_printf(ha1, "%s:%s:%016llx", ha1, auth_data->nonce, auth_data->cnonce) <= 0) {
+    if ((strcasecmp(auth_data->algorithm, "md5-sess") == 0) ||
+            (strcasecmp(auth_data->algorithm, "SHA256") == 0) ||
+            (strcasecmp(auth_data->algorithm, "md5-sess") == 0)) {
+        if (digest_func(ha1, "%s:%s:%016llx", ha1, auth_data->nonce, auth_data->cnonce) <= 0) {
             goto _digest_exit;
         }
     }
-    if (md5_printf(ha2, "%s:%s", auth_data->method, auth_data->uri) <= 0) {
+    if (digest_func(ha2, "%s:%s", auth_data->method, auth_data->uri) <= 0) {
         goto _digest_exit;
     }
 
     //support qop = auth
     if (auth_data->qop && strcasecmp(auth_data->qop, "auth-int") == 0) {
-        if (md5_printf(ha2, "%s:%s", ha2, "entity") <= 0) {
+        if (digest_func(ha2, "%s:%s", ha2, "entity") <= 0) {
             goto _digest_exit;
         }
     }
 
     if (auth_data->qop) {
-        // response=MD5(HA1:nonce:nonceCount:cnonce:qop:HA2)
-        if (md5_printf(digest, "%s:%s:%08x:%016llx:%s:%s", ha1, auth_data->nonce, auth_data->nc, auth_data->cnonce, auth_data->qop, ha2) <= 0) {
+        // response=digest_func(HA1:nonce:nonceCount:cnonce:qop:HA2)
+        if (digest_func(digest, "%s:%s:%08x:%016llx:%s:%s", ha1, auth_data->nonce, auth_data->nc, auth_data->cnonce, auth_data->qop, ha2) <= 0) {
             goto _digest_exit;
         }
     } else {
-        // response=MD5(HA1:nonce:HA2)
-        if (md5_printf(digest, "%s:%s:%s", ha1, auth_data->nonce, ha2) <= 0) {
+        // response=digest_func(HA1:nonce:HA2)
+        if (digest_func(digest, "%s:%s:%s", ha1, auth_data->nonce, ha2) <= 0) {
             goto _digest_exit;
         }
     }
-    int rc = asprintf(&auth_str, "Digest username=\"%s\", realm=\"%s\", nonce=\"%s\", uri=\"%s\", algorithm=\"MD5\", "
-             "response=\"%s\", qop=%s, nc=%08x, cnonce=%016"PRIx64,
-             username, auth_data->realm, auth_data->nonce, auth_data->uri, digest, auth_data->qop, auth_data->nc, auth_data->cnonce);
+    int rc = asprintf(&auth_str, "Digest username=\"%s\", realm=\"%s\", nonce=\"%s\", uri=\"%s\", algorithm=%s, "
+                      "response=\"%s\", qop=%s, nc=%08x, cnonce=\"%016"PRIx64"\"",
+                      username, auth_data->realm, auth_data->nonce, auth_data->uri, auth_data->algorithm, digest, auth_data->qop, auth_data->nc, auth_data->cnonce);
     if (rc < 0) {
         ESP_LOGE(TAG, "asprintf() returned: %d", rc);
         ret = ESP_FAIL;
diff --git a/components/esp_http_client/lib/http_utils.c b/components/esp_http_client/lib/http_utils.c
index 495b949a6e..a47796c187 100644
--- a/components/esp_http_client/lib/http_utils.c
+++ b/components/esp_http_client/lib/http_utils.c
@@ -123,6 +123,23 @@ char *http_utils_get_string_between(const char *str, const char *begin, const ch
     return NULL;
 }
 
+char *http_utils_get_string_after(const char *str, const char *begin)
+{
+    char *found = strcasestr(str, begin);
+    char *ret = NULL;
+    if (found) {
+        found += strlen(begin);
+        char *found_end = (char *)str + strlen(str);
+        if (found_end) {
+            ret = calloc(1, found_end - found + 1);
+            mem_check(ret);
+            memcpy(ret, found, found_end - found);
+            return ret;
+        }
+    }
+    return NULL;
+}
+
 int http_utils_str_starts_with(const char *str, const char *start)
 {
     int i;
diff --git a/components/esp_http_client/lib/include/http_utils.h b/components/esp_http_client/lib/include/http_utils.h
index 5d09a5c6ac..e3758e3f3d 100644
--- a/components/esp_http_client/lib/include/http_utils.h
+++ b/components/esp_http_client/lib/include/http_utils.h
@@ -55,6 +55,17 @@ void http_utils_trim_whitespace(char **str);
  */
 char *http_utils_get_string_between(const char *str, const char *begin, const char *end);
 
+/**
+ * @brief      Returns a string that contains the part after the search string till the end of the source string.
+ *             It will allocate a new memory space for this string, so you need to free it when no longer used
+ *
+ * @param[in]  str    The source string
+ * @param[in]  begin  The search string
+ *
+ * @return     The string between begin and the end of str
+ */
+char *http_utils_get_string_after(const char *str, const char *begin);
+
 /**
  * @brief      Join 2 strings to one
  *             It will allocate a new memory space for this string, so you need to free it when no longer use
diff --git a/docs/en/api-reference/protocols/esp_http_client.rst b/docs/en/api-reference/protocols/esp_http_client.rst
index 9ec6fde049..8a487c69a1 100644
--- a/docs/en/api-reference/protocols/esp_http_client.rst
+++ b/docs/en/api-reference/protocols/esp_http_client.rst
@@ -83,6 +83,7 @@ ESP HTTP client supports both **Basic** and **Digest** Authentication.
     * Users can provide the username and password in the ``url`` or the ``username`` and ``password`` members of the ``esp_http_client_config_t`` configuration. For ``auth_type = HTTP_AUTH_TYPE_BASIC``, the HTTP client takes only one perform operation to pass the authentication process.
     * If ``auth_type = HTTP_AUTH_TYPE_NONE``, but the ``username`` and ``password`` fields are present in the configuration, the HTTP client takes two perform operations. The client will receive the ``401 Unauthorized`` header in its first attempt to connect to the server. Based on this information, it decides which authentication method to choose and performs it in the second operation.
     * Check out the example functions ``http_auth_basic``, ``http_auth_basic_redirect`` (for Basic authentication) and ``http_auth_digest`` (for Digest authentication) in the application example for implementation details.
+    * Currently, only MD5 and SHA-256 algorithms are supported with Digest authentication.
 
 
 Examples of Authentication Configuration