diff --git a/components/freertos/FreeRTOS-Kernel/portable/linux/port.c b/components/freertos/FreeRTOS-Kernel/portable/linux/port.c
index 32d14b0ebc..33253f2240 100644
--- a/components/freertos/FreeRTOS-Kernel/portable/linux/port.c
+++ b/components/freertos/FreeRTOS-Kernel/portable/linux/port.c
@@ -1,11 +1,12 @@
 /*
- * SPDX-FileCopyrightText: 2020 Amazon.com, Inc. or its affiliates
+ * FreeRTOS Kernel V10.5.1 (ESP-IDF SMP modified)
+ * Copyright (C) 2020 Cambridge Consultants Ltd.
+ *
+ * SPDX-FileCopyrightText: 2020 Cambridge Consultants Ltd
  *
  * SPDX-License-Identifier: MIT
- */
-/*
- * FreeRTOS Kernel V10.4.3
- * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * SPDX-FileContributor: 2023 Espressif Systems (Shanghai) CO LTD
  *
  * Permission is hereby granted, free of charge, to any person obtaining a copy of
  * this software and associated documentation files (the "Software"), to deal in
diff --git a/components/freertos/FreeRTOS-Kernel/portable/riscv/include/freertos/portmacro.h b/components/freertos/FreeRTOS-Kernel/portable/riscv/include/freertos/portmacro.h
index f09fdaa826..3691fa12fa 100644
--- a/components/freertos/FreeRTOS-Kernel/portable/riscv/include/freertos/portmacro.h
+++ b/components/freertos/FreeRTOS-Kernel/portable/riscv/include/freertos/portmacro.h
@@ -1,13 +1,12 @@
 /*
- * SPDX-FileCopyrightText: 2020 Amazon.com, Inc. or its affiliates
+ * FreeRTOS Kernel V10.5.1 (ESP-IDF SMP modified)
+ * Copyright (C) 2021 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * SPDX-FileCopyrightText: 2021 Amazon.com, Inc. or its affiliates
  *
  * SPDX-License-Identifier: MIT
  *
- * SPDX-FileContributor: 2016-2023 Espressif Systems (Shanghai) CO LTD
- */
-/*
- * FreeRTOS Kernel V10.4.3
- * Copyright (C) 2019 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ * SPDX-FileContributor: 2023 Espressif Systems (Shanghai) CO LTD
  *
  * Permission is hereby granted, free of charge, to any person obtaining a copy of
  * this software and associated documentation files (the "Software"), to deal in
@@ -26,10 +25,9 @@
  * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
  * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  *
- * http://www.FreeRTOS.org
- * http://aws.amazon.com/freertos
+ * https://www.FreeRTOS.org
+ * https://github.com/FreeRTOS
  *
- * 1 tab == 4 spaces!
  */
 
 #ifndef PORTMACRO_H
diff --git a/components/freertos/FreeRTOS-Kernel/portable/riscv/port.c b/components/freertos/FreeRTOS-Kernel/portable/riscv/port.c
index e00514d825..a5d9e8a9ff 100644
--- a/components/freertos/FreeRTOS-Kernel/portable/riscv/port.c
+++ b/components/freertos/FreeRTOS-Kernel/portable/riscv/port.c
@@ -1,13 +1,12 @@
 /*
- * SPDX-FileCopyrightText: 2020 Amazon.com, Inc. or its affiliates
+ * FreeRTOS Kernel V10.5.1 (ESP-IDF SMP modified)
+ * Copyright (C) 2021 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * SPDX-FileCopyrightText: 2021 Amazon.com, Inc. or its affiliates
  *
  * SPDX-License-Identifier: MIT
  *
- * SPDX-FileContributor: 2016-2023 Espressif Systems (Shanghai) CO LTD
- */
-/*
- * FreeRTOS Kernel V10.4.3
- * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ * SPDX-FileContributor: 2023 Espressif Systems (Shanghai) CO LTD
  *
  * Permission is hereby granted, free of charge, to any person obtaining a copy of
  * this software and associated documentation files (the "Software"), to deal in
@@ -29,7 +28,6 @@
  * https://www.FreeRTOS.org
  * https://github.com/FreeRTOS
  *
- * 1 tab == 4 spaces!
  */
 
 /*-----------------------------------------------------------------------
diff --git a/components/freertos/FreeRTOS-Kernel/portable/xtensa/include/freertos/portmacro.h b/components/freertos/FreeRTOS-Kernel/portable/xtensa/include/freertos/portmacro.h
index e6772f12a7..a386c68609 100644
--- a/components/freertos/FreeRTOS-Kernel/portable/xtensa/include/freertos/portmacro.h
+++ b/components/freertos/FreeRTOS-Kernel/portable/xtensa/include/freertos/portmacro.h
@@ -1,14 +1,14 @@
 /*
- * SPDX-FileCopyrightText: 2017 Amazon.com, Inc. or its affiliates
- * SPDX-FileCopyrightText: 2015-2019 Cadence Design Systems, Inc.
+ * FreeRTOS Kernel V10.5.1
+ * Copyright (C) 2015-2019 Cadence Design Systems, Inc.
+ * Copyright (C) 2021 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * SPDX-FileCopyrightText: 2015-2019 Cadence Design Systems, Inc
+ * SPDX-FileCopyrightText: 2021 Amazon.com, Inc. or its affiliates
  *
  * SPDX-License-Identifier: MIT
  *
- * SPDX-FileContributor: 2016-2023 Espressif Systems (Shanghai) CO LTD
- */
-/*
- * FreeRTOS Kernel V10.4.3
- * Copyright (C) 2017 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ * SPDX-FileContributor: 2023 Espressif Systems (Shanghai) CO LTD
  *
  * Permission is hereby granted, free of charge, to any person obtaining a copy of
  * this software and associated documentation files (the "Software"), to deal in
@@ -18,8 +18,7 @@
  * subject to the following conditions:
  *
  * The above copyright notice and this permission notice shall be included in all
- * copies or substantial portions of the Software. If you wish to use our Amazon
- * FreeRTOS name, please do so in a fair use way that does not cause confusion.
+ * copies or substantial portions of the Software.
  *
  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
@@ -31,30 +30,6 @@
  * https://www.FreeRTOS.org
  * https://github.com/FreeRTOS
  *
- * 1 tab == 4 spaces!
- */
-
-/*
- * Copyright (c) 2015-2019 Cadence Design Systems, Inc.
- *
- * Permission is hereby granted, free of charge, to any person obtaining
- * a copy of this software and associated documentation files (the
- * "Software"), to deal in the Software without restriction, including
- * without limitation the rights to use, copy, modify, merge, publish,
- * distribute, sublicense, and/or sell copies of the Software, and to
- * permit persons to whom the Software is furnished to do so, subject to
- * the following conditions:
- *
- * The above copyright notice and this permission notice shall be included
- * in all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
- * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
- * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
- * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
- * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
- * SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  */
 
 #ifndef PORTMACRO_H
diff --git a/components/freertos/FreeRTOS-Kernel/portable/xtensa/port.c b/components/freertos/FreeRTOS-Kernel/portable/xtensa/port.c
index 92b7174141..d5f82a04ea 100644
--- a/components/freertos/FreeRTOS-Kernel/portable/xtensa/port.c
+++ b/components/freertos/FreeRTOS-Kernel/portable/xtensa/port.c
@@ -1,14 +1,14 @@
 /*
- * SPDX-FileCopyrightText: 2017 Amazon.com, Inc. or its affiliates
- * SPDX-FileCopyrightText: 2015-2019 Cadence Design Systems, Inc.
+ * FreeRTOS Kernel V10.5.1
+ * Copyright (C) 2015-2019 Cadence Design Systems, Inc.
+ * Copyright (C) 2021 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * SPDX-FileCopyrightText: 2015-2019 Cadence Design Systems, Inc
+ * SPDX-FileCopyrightText: 2021 Amazon.com, Inc. or its affiliates
  *
  * SPDX-License-Identifier: MIT
  *
- * SPDX-FileContributor: 2016-2023 Espressif Systems (Shanghai) CO LTD
- */
-/*
- * FreeRTOS Kernel V10.4.3
- * Copyright (C) 2017 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ * SPDX-FileContributor: 2023 Espressif Systems (Shanghai) CO LTD
  *
  * Permission is hereby granted, free of charge, to any person obtaining a copy of
  * this software and associated documentation files (the "Software"), to deal in
@@ -18,8 +18,7 @@
  * subject to the following conditions:
  *
  * The above copyright notice and this permission notice shall be included in all
- * copies or substantial portions of the Software. If you wish to use our Amazon
- * FreeRTOS name, please do so in a fair use way that does not cause confusion.
+ * copies or substantial portions of the Software.
  *
  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
@@ -31,30 +30,6 @@
  * https://www.FreeRTOS.org
  * https://github.com/FreeRTOS
  *
- * 1 tab == 4 spaces!
- */
-
-/*
- * Copyright (c) 2015-2019 Cadence Design Systems, Inc.
- *
- * Permission is hereby granted, free of charge, to any person obtaining
- * a copy of this software and associated documentation files (the
- * "Software"), to deal in the Software without restriction, including
- * without limitation the rights to use, copy, modify, merge, publish,
- * distribute, sublicense, and/or sell copies of the Software, and to
- * permit persons to whom the Software is furnished to do so, subject to
- * the following conditions:
- *
- * The above copyright notice and this permission notice shall be included
- * in all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
- * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
- * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
- * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
- * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
- * SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  */
 
 #include "sdkconfig.h"
diff --git a/components/freertos/FreeRTOS-Kernel/sbom.yml b/components/freertos/FreeRTOS-Kernel/sbom.yml
index d04a72557f..f5f9f31eb3 100644
--- a/components/freertos/FreeRTOS-Kernel/sbom.yml
+++ b/components/freertos/FreeRTOS-Kernel/sbom.yml
@@ -1,9 +1,6 @@
 name: 'freertos'
-version: '10.4.3'
+version: '10.5.1'
 cpe: cpe:2.3:o:amazon:freertos:{}:*:*:*:*:*:*:*
 supplier: 'Organization: Espressif Systems (Shanghai) CO LTD'
 originator: 'Organization: Amazon Web Services'
 description: An open-source, real-time operating system (RTOS) with additional features and patches from Espressif.
-cve-exclude-list:
-  - cve: CVE-2021-43997
-    reason: This vulnerability only affects ARMv7-M and ARMv8-M ports of FreeRTOS and hence does not affect Espressif SoCs which are not based on these architectures.
diff --git a/components/freertos/heap_idf.c b/components/freertos/heap_idf.c
index 3c22f8e7fd..0e2b0c1583 100644
--- a/components/freertos/heap_idf.c
+++ b/components/freertos/heap_idf.c
@@ -1,35 +1,7 @@
 /*
- * SPDX-FileCopyrightText: 2020 Amazon.com, Inc. or its affiliates
- *
- * SPDX-License-Identifier: MIT
- *
- * SPDX-FileContributor: 2023 Espressif Systems (Shanghai) CO LTD
- */
-
-/*
- * FreeRTOS Kernel V10.4.3
- * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy of
- * this software and associated documentation files (the "Software"), to deal in
- * the Software without restriction, including without limitation the rights to
- * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
- * the Software, and to permit persons to whom the Software is furnished to do so,
- * subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in all
- * copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
- * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
- * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
- * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
- * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- *
- * https://www.FreeRTOS.org
- * https://github.com/FreeRTOS
+ * SPDX-FileCopyrightText: 2023 Espressif Systems (Shanghai) CO LTD
  *
+ * SPDX-License-Identifier: Apache-2.0
  */
 
 #include "sdkconfig.h"
@@ -104,24 +76,24 @@ size_t xPortGetMinimumEverFreeHeapSize( void )
 }
 /*-----------------------------------------------------------*/
 
-bool xPortCheckValidTCBMem(const void *ptr)
+bool xPortCheckValidTCBMem( const void * ptr )
 {
     #if CONFIG_IDF_TARGET_LINUX
         return true;
     #else /* CONFIG_IDF_TARGET_LINUX */
-        return esp_ptr_internal(ptr) && esp_ptr_byte_accessible(ptr);
+        return esp_ptr_internal( ptr ) && esp_ptr_byte_accessible( ptr );
     #endif /* CONFIG_IDF_TARGET_LINUX */
 }
 
-bool xPortcheckValidStackMem(const void *ptr)
+bool xPortcheckValidStackMem( const void * ptr )
 {
     #if CONFIG_IDF_TARGET_LINUX
         return true;
     #else /* CONFIG_IDF_TARGET_LINUX */
         #ifdef CONFIG_SPIRAM_ALLOW_STACK_EXTERNAL_MEMORY
-            return esp_ptr_byte_accessible(ptr);
+            return esp_ptr_byte_accessible( ptr );
         #else
-            return esp_ptr_internal(ptr) && esp_ptr_byte_accessible(ptr);
+            return esp_ptr_internal( ptr ) && esp_ptr_byte_accessible( ptr );
         #endif
     #endif /* CONFIG_IDF_TARGET_LINUX */
 }
diff --git a/docs/en/api-reference/system/freertos.rst b/docs/en/api-reference/system/freertos.rst
index 745f7e8297..ca1b1fcdc5 100644
--- a/docs/en/api-reference/system/freertos.rst
+++ b/docs/en/api-reference/system/freertos.rst
@@ -18,7 +18,7 @@ The `official FreeRTOS <https://www.freertos.org/index.html>`_ (henceforth refer
 ESP-IDF FreeRTOS
 ^^^^^^^^^^^^^^^^
 
-ESP-IDF FreeRTOS is a FreeRTOS implementation based on Vanilla FreeRTOS v10.4.3, but contains significant modifications to support SMP. ESP-IDF FreeRTOS only supports two cores at most (i.e., dual core SMP), but is more optimized for this scenario by design. For more details regarding ESP-IDF FreeRTOS and its modifications, please refer to the :doc:`freertos_idf` document.
+ESP-IDF FreeRTOS is a FreeRTOS implementation based on Vanilla FreeRTOS v10.5.1, but contains significant modifications to support SMP. ESP-IDF FreeRTOS only supports two cores at most (i.e., dual core SMP), but is more optimized for this scenario by design. For more details regarding ESP-IDF FreeRTOS and its modifications, please refer to the :doc:`freertos_idf` document.
 
 .. note::
 
diff --git a/docs/en/api-reference/system/freertos_idf.rst b/docs/en/api-reference/system/freertos_idf.rst
index eee3df8557..b85a2c52bb 100644
--- a/docs/en/api-reference/system/freertos_idf.rst
+++ b/docs/en/api-reference/system/freertos_idf.rst
@@ -10,7 +10,7 @@ Overview
 
 The original FreeRTOS (hereinafter referred to as Vanilla FreeRTOS) is a compact and efficient real-time operating system supported on many single-core MCUs and SoCs. However, to support numerous dual-core ESP targets, such as ESP32, ESP32-S3, and ESP32-P4, ESP-IDF provides an implementation of FreeRTOS with dual-core symmetric multiprocessing (SMP) capabilities (hereinafter referred to as ESP-IDF FreeRTOS).
 
-ESP-IDF FreeRTOS is based on Vanilla FreeRTOS v10.4.3 but contains significant modifications to both API and kernel behavior in order to support dual-core SMP. This document describes the API and behavioral differences between Vanilla FreeRTOS and ESP-IDF FreeRTOS.
+ESP-IDF FreeRTOS is based on Vanilla FreeRTOS v10.5.1 but contains significant modifications to both API and kernel behavior in order to support dual-core SMP. This document describes the API and behavioral differences between Vanilla FreeRTOS and ESP-IDF FreeRTOS.
 
 .. note::
 
diff --git a/docs/zh_CN/api-reference/system/freertos.rst b/docs/zh_CN/api-reference/system/freertos.rst
index 659223eb0c..a2d88e4837 100644
--- a/docs/zh_CN/api-reference/system/freertos.rst
+++ b/docs/zh_CN/api-reference/system/freertos.rst
@@ -18,7 +18,7 @@ FreeRTOS 是一个开源的 RTOS（实时操作系统）内核，它以组件的
 ESP-IDF FreeRTOS
 ^^^^^^^^^^^^^^^^
 
-    ESP-IDF FreeRTOS 是基于原生 FreeRTOS v10.4.3 的 FreeRTOS 实现，其中包含支持 SMP 的大量更新。ESP-IDF FreeRTOS 最多支持两个核（即双核 SMP），但在设计上对这种场景进行了优化。关于 ESP-IDF FreeRTOS 及具体更新内容，请参考 :doc:`freertos_idf` 文档。
+    ESP-IDF FreeRTOS 是基于原生 FreeRTOS v10.5.1 的 FreeRTOS 实现，其中包含支持 SMP 的大量更新。ESP-IDF FreeRTOS 最多支持两个核（即双核 SMP），但在设计上对这种场景进行了优化。关于 ESP-IDF FreeRTOS 及具体更新内容，请参考 :doc:`freertos_idf` 文档。
 
     .. note::
 
diff --git a/docs/zh_CN/api-reference/system/freertos_idf.rst b/docs/zh_CN/api-reference/system/freertos_idf.rst
index 5fbf27e939..5d4830683d 100644
--- a/docs/zh_CN/api-reference/system/freertos_idf.rst
+++ b/docs/zh_CN/api-reference/system/freertos_idf.rst
@@ -10,7 +10,7 @@ FreeRTOS (ESP-IDF)
 
 原始 FreeRTOS（下文称 Vanilla FreeRTOS）是一款小巧高效的实时操作系统，适用于许多单核 MCU 和 SoC。但为了支持双核 ESP 芯片，如 ESP32、ESP32-S3、ESP32-P4，ESP-IDF 提供了支持双核对称多处理 (SMP) 的 FreeRTOS 实现（下文称 ESP-IDF FreeRTOS）。
 
-ESP-IDF FreeRTOS 以 Vanilla FreeRTOS v10.4.3 为基础，为支持 SMP，在 API 和内核行为上做了较大改动。本文档描述了 Vanilla FreeRTOS 与 ESP-IDF FreeRTOS 之间的 API 和内核行为差异。
+ESP-IDF FreeRTOS 以 Vanilla FreeRTOS v10.5.1 为基础，为支持 SMP，在 API 和内核行为上做了较大改动。本文档描述了 Vanilla FreeRTOS 与 ESP-IDF FreeRTOS 之间的 API 和内核行为差异。
 
 .. note::