diff --git a/components/esp_driver_gpio/src/gpio.c b/components/esp_driver_gpio/src/gpio.c
index d52dcde297..5e878b7e7d 100644
--- a/components/esp_driver_gpio/src/gpio.c
+++ b/components/esp_driver_gpio/src/gpio.c
@@ -22,13 +22,7 @@
 #include "hal/gpio_hal.h"
 #include "esp_rom_gpio.h"
 #include "esp_private/esp_gpio_reserve.h"
-#include "esp_private/periph_ctrl.h"
-
-#if SOC_LP_IO_CLOCK_IS_INDEPENDENT && !SOC_RTCIO_RCC_IS_INDEPENDENT
-#define RTCIO_RCC_ATOMIC() PERIPH_RCC_ATOMIC()
-#else
-#define RTCIO_RCC_ATOMIC()
-#endif
+#include "esp_private/io_mux.h"
 
 #if (SOC_RTCIO_PIN_COUNT > 0)
 #include "hal/rtc_io_hal.h"
@@ -66,9 +60,6 @@ typedef struct {
     gpio_isr_func_t *gpio_isr_func;
     gpio_isr_handle_t gpio_isr_handle;
     uint64_t isr_clr_on_entry_mask; // for edge-triggered interrupts, interrupt status bits should be cleared before entering per-pin handlers
-#if SOC_GPIO_SUPPORT_DEEPSLEEP_WAKEUP && SOC_LP_IO_CLOCK_IS_INDEPENDENT
-    uint32_t gpio_wakeup_mask;
-#endif
 } gpio_context_t;
 
 static gpio_hal_context_t _gpio_hal = {
@@ -81,9 +72,6 @@ static gpio_context_t gpio_context = {
     .isr_core_id = GPIO_ISR_CORE_ID_UNINIT,
     .gpio_isr_func = NULL,
     .isr_clr_on_entry_mask = 0,
-#if SOC_GPIO_SUPPORT_DEEPSLEEP_WAKEUP && SOC_LP_IO_CLOCK_IS_INDEPENDENT
-    .gpio_wakeup_mask = 0,
-#endif
 };
 
 esp_err_t gpio_pullup_en(gpio_num_t gpio_num)
@@ -639,6 +627,11 @@ esp_err_t gpio_wakeup_enable(gpio_num_t gpio_num, gpio_int_type_t intr_type)
     if ((intr_type == GPIO_INTR_LOW_LEVEL) || (intr_type == GPIO_INTR_HIGH_LEVEL)) {
 #if SOC_RTCIO_WAKE_SUPPORTED
         if (rtc_gpio_is_valid_gpio(gpio_num)) {
+#if SOC_LP_IO_CLOCK_IS_INDEPENDENT
+            // LP_IO Wake-up function does not depend on LP_IO Matrix, but uses its clock to
+            // sample the wake-up signal, we need to enable the LP_IO clock here.
+            io_mux_enable_lp_io_clock(gpio_num, true);
+#endif
             ret = rtc_gpio_wakeup_enable(gpio_num, intr_type);
         }
 #endif
@@ -664,6 +657,9 @@ esp_err_t gpio_wakeup_disable(gpio_num_t gpio_num)
 #if SOC_RTCIO_WAKE_SUPPORTED
     if (rtc_gpio_is_valid_gpio(gpio_num)) {
         ret = rtc_gpio_wakeup_disable(gpio_num);
+#if SOC_LP_IO_CLOCK_IS_INDEPENDENT
+        io_mux_enable_lp_io_clock(gpio_num, false);
+#endif
     }
 #endif
     portENTER_CRITICAL(&gpio_context.gpio_spinlock);
@@ -992,12 +988,7 @@ esp_err_t gpio_deep_sleep_wakeup_enable(gpio_num_t gpio_num, gpio_int_type_t int
     }
     portENTER_CRITICAL(&gpio_context.gpio_spinlock);
 #if SOC_LP_IO_CLOCK_IS_INDEPENDENT
-    if (gpio_context.gpio_wakeup_mask == 0) {
-        RTCIO_RCC_ATOMIC() {
-            rtcio_ll_enable_io_clock(true);
-        }
-    }
-    gpio_context.gpio_wakeup_mask |= (1ULL << gpio_num);
+    io_mux_enable_lp_io_clock(gpio_num, true);
 #endif
     gpio_hal_deepsleep_wakeup_enable(gpio_context.gpio_hal, gpio_num, intr_type);
 #if CONFIG_ESP_SLEEP_GPIO_RESET_WORKAROUND || CONFIG_PM_SLP_DISABLE_GPIO
@@ -1019,12 +1010,7 @@ esp_err_t gpio_deep_sleep_wakeup_disable(gpio_num_t gpio_num)
     gpio_hal_sleep_sel_en(gpio_context.gpio_hal, gpio_num);
 #endif
 #if SOC_LP_IO_CLOCK_IS_INDEPENDENT
-    gpio_context.gpio_wakeup_mask &= ~(1ULL << gpio_num);
-    if (gpio_context.gpio_wakeup_mask == 0) {
-        RTCIO_RCC_ATOMIC() {
-            rtcio_ll_enable_io_clock(false);
-        }
-    }
+    io_mux_enable_lp_io_clock(gpio_num, false);
 #endif
     portEXIT_CRITICAL(&gpio_context.gpio_spinlock);
     return ESP_OK;
diff --git a/components/esp_driver_gpio/src/rtc_io.c b/components/esp_driver_gpio/src/rtc_io.c
index 9a582b1867..c382a7c9d8 100644
--- a/components/esp_driver_gpio/src/rtc_io.c
+++ b/components/esp_driver_gpio/src/rtc_io.c
@@ -9,6 +9,7 @@
 #include "esp_err.h"
 #include "esp_check.h"
 #include "esp_private/periph_ctrl.h"
+#include "esp_private/io_mux.h"
 #include "freertos/FreeRTOS.h"
 #include "freertos/semphr.h"
 #include "freertos/timers.h"
@@ -18,16 +19,6 @@
 #include "soc/rtc_io_periph.h"
 #include "soc/soc_caps.h"
 
-#if SOC_LP_IO_CLOCK_IS_INDEPENDENT && !SOC_RTCIO_RCC_IS_INDEPENDENT
-// For `rtcio_hal_function_select` using, clock reg option is inlined in it,
-// so remove the declaration check of __DECLARE_RCC_RC_ATOMIC_ENV
-#define RTCIO_RCC_ATOMIC()                              \
-    for (int i = 1; i ? (periph_rcc_enter(), 1) : 0;    \
-         periph_rcc_exit(), i--)
-#else
-#define RTCIO_RCC_ATOMIC()
-#endif
-
 static const char __attribute__((__unused__)) *RTCIO_TAG = "RTCIO";
 
 extern portMUX_TYPE rtc_spinlock; //TODO: Will be placed in the appropriate position after the rtc module is finished.
@@ -56,9 +47,10 @@ esp_err_t rtc_gpio_init(gpio_num_t gpio_num)
 {
     ESP_RETURN_ON_FALSE(rtc_gpio_is_valid_gpio(gpio_num), ESP_ERR_INVALID_ARG, RTCIO_TAG, "RTCIO number error");
     RTCIO_ENTER_CRITICAL();
-    RTCIO_RCC_ATOMIC() {
-        rtcio_hal_function_select(rtc_io_number_get(gpio_num), RTCIO_LL_FUNC_RTC);
-    }
+#if SOC_LP_IO_CLOCK_IS_INDEPENDENT
+    io_mux_enable_lp_io_clock(gpio_num, true);
+#endif
+    rtcio_hal_function_select(rtc_io_number_get(gpio_num), RTCIO_LL_FUNC_RTC);
     RTCIO_EXIT_CRITICAL();
 
     return ESP_OK;
@@ -68,10 +60,12 @@ esp_err_t rtc_gpio_deinit(gpio_num_t gpio_num)
 {
     ESP_RETURN_ON_FALSE(rtc_gpio_is_valid_gpio(gpio_num), ESP_ERR_INVALID_ARG, RTCIO_TAG, "RTCIO number error");
     RTCIO_ENTER_CRITICAL();
-    RTCIO_RCC_ATOMIC() {
-        // Select Gpio as Digital Gpio
-        rtcio_hal_function_select(rtc_io_number_get(gpio_num), RTCIO_LL_FUNC_DIGITAL);
-    }
+    // Select Gpio as Digital Gpio
+    rtcio_hal_function_select(rtc_io_number_get(gpio_num), RTCIO_LL_FUNC_DIGITAL);
+
+#if SOC_LP_IO_CLOCK_IS_INDEPENDENT
+    io_mux_enable_lp_io_clock(gpio_num, false);
+#endif
     RTCIO_EXIT_CRITICAL();
 
     return ESP_OK;
diff --git a/components/esp_hw_support/include/esp_private/io_mux.h b/components/esp_hw_support/include/esp_private/io_mux.h
index 3c3056d762..dd8ea49ffb 100644
--- a/components/esp_hw_support/include/esp_private/io_mux.h
+++ b/components/esp_hw_support/include/esp_private/io_mux.h
@@ -1,13 +1,17 @@
 /*
- * SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2022-2024 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
 
 #pragma once
 
+#include <stdbool.h>
 #include "esp_err.h"
 #include "soc/clk_tree_defs.h"
+#include "soc/gpio_num.h"
+#include "soc/soc_caps.h"
+#include "soc/io_mux_reg.h"
 
 #ifdef __cplusplus
 extern "C" {
@@ -26,6 +30,20 @@ extern "C" {
  */
 esp_err_t io_mux_set_clock_source(soc_module_clk_t clk_src);
 
+#if SOC_LP_IO_CLOCK_IS_INDEPENDENT
+typedef struct {
+    uint8_t rtc_io_enabled_cnt[MAX_RTC_GPIO_NUM];
+    uint32_t rtc_io_using_mask;
+} rtc_io_status_t;
+
+/**
+ * Enable/Disable LP_IO peripheral clock.
+ * @param gpio_num GPIO number
+ * @param enable   true to enable the clock / false to disable the clock
+ */
+void io_mux_enable_lp_io_clock(gpio_num_t gpio_num, bool enable);
+#endif
+
 #ifdef __cplusplus
 }
 #endif
diff --git a/components/esp_hw_support/port/esp32c6/io_mux.c b/components/esp_hw_support/port/esp32c6/io_mux.c
index e5679e40b4..bd164ce683 100644
--- a/components/esp_hw_support/port/esp32c6/io_mux.c
+++ b/components/esp_hw_support/port/esp32c6/io_mux.c
@@ -1,16 +1,29 @@
 /*
- * SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2022-2024 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
 
+#include "esp_attr.h"
 #include "freertos/FreeRTOS.h"
 #include "esp_private/io_mux.h"
+#include "esp_private/periph_ctrl.h"
 #include "hal/gpio_ll.h"
+#include "hal/rtc_io_ll.h"
+
+#define RTCIO_RCC_ATOMIC()  PERIPH_RCC_ATOMIC()
 
 static portMUX_TYPE s_io_mux_spinlock = portMUX_INITIALIZER_UNLOCKED;
 static soc_module_clk_t s_io_mux_clk_src = 0; // by default, the clock source is not set explicitly by any consumer (e.g. SDM, Filter)
 
+#if CONFIG_ULP_COPROC_ENABLED
+RTC_DATA_ATTR
+#endif
+static rtc_io_status_t s_rtc_io_status = {
+    .rtc_io_enabled_cnt = { 0 },
+    .rtc_io_using_mask = 0
+};
+
 esp_err_t io_mux_set_clock_source(soc_module_clk_t clk_src)
 {
     bool clk_conflict = false;
@@ -31,3 +44,27 @@ esp_err_t io_mux_set_clock_source(soc_module_clk_t clk_src)
 
     return ESP_OK;
 }
+
+void io_mux_enable_lp_io_clock(gpio_num_t gpio_num, bool enable)
+{
+    portENTER_CRITICAL(&s_io_mux_spinlock);
+    if (enable) {
+        if (s_rtc_io_status.rtc_io_enabled_cnt[gpio_num] == 0) {
+            s_rtc_io_status.rtc_io_using_mask |= (1ULL << gpio_num);
+        }
+        s_rtc_io_status.rtc_io_enabled_cnt[gpio_num]++;
+    } else if (!enable && (s_rtc_io_status.rtc_io_enabled_cnt[gpio_num] > 0)) {
+        s_rtc_io_status.rtc_io_enabled_cnt[gpio_num]--;
+        if (s_rtc_io_status.rtc_io_enabled_cnt[gpio_num] == 0) {
+            s_rtc_io_status.rtc_io_using_mask &= ~(1ULL << gpio_num);
+        }
+    }
+    RTCIO_RCC_ATOMIC() {
+        if (s_rtc_io_status.rtc_io_using_mask == 0) {
+            rtcio_ll_enable_io_clock(false);
+        } else {
+            rtcio_ll_enable_io_clock(true);
+        }
+    }
+    portEXIT_CRITICAL(&s_io_mux_spinlock);
+}
diff --git a/components/esp_hw_support/port/esp32h2/io_mux.c b/components/esp_hw_support/port/esp32h2/io_mux.c
index 653c0b2981..3ff1884c10 100644
--- a/components/esp_hw_support/port/esp32h2/io_mux.c
+++ b/components/esp_hw_support/port/esp32h2/io_mux.c
@@ -1,15 +1,21 @@
 /*
- * SPDX-FileCopyrightText: 2023 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2022-2024 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
 
 #include "freertos/FreeRTOS.h"
 #include "esp_private/io_mux.h"
+#include "esp_private/periph_ctrl.h"
 #include "hal/gpio_ll.h"
+#include "hal/rtc_io_ll.h"
+
+#define RTCIO_RCC_ATOMIC()  PERIPH_RCC_ATOMIC()
 
 static portMUX_TYPE s_io_mux_spinlock = portMUX_INITIALIZER_UNLOCKED;
 static soc_module_clk_t s_io_mux_clk_src = 0; // by default, the clock source is not set explicitly by any consumer (e.g. SDM, Filter)
+static uint8_t s_rtc_io_enabled_cnt[MAX_RTC_GPIO_NUM] = { 0 };
+static uint32_t s_rtc_io_using_mask = 0;
 
 esp_err_t io_mux_set_clock_source(soc_module_clk_t clk_src)
 {
@@ -31,3 +37,27 @@ esp_err_t io_mux_set_clock_source(soc_module_clk_t clk_src)
 
     return ESP_OK;
 }
+
+void io_mux_enable_lp_io_clock(gpio_num_t gpio_num, bool enable)
+{
+    portENTER_CRITICAL(&s_io_mux_spinlock);
+    if (enable) {
+        if (s_rtc_io_enabled_cnt[gpio_num] == 0) {
+            s_rtc_io_using_mask |= (1ULL << gpio_num);
+        }
+        s_rtc_io_enabled_cnt[gpio_num]++;
+    } else if (!enable && (s_rtc_io_enabled_cnt[gpio_num] > 0)) {
+        s_rtc_io_enabled_cnt[gpio_num]--;
+        if (s_rtc_io_enabled_cnt[gpio_num] == 0) {
+            s_rtc_io_using_mask &= ~(1ULL << gpio_num);
+        }
+    }
+    RTCIO_RCC_ATOMIC() {
+        if (s_rtc_io_using_mask == 0) {
+            rtcio_ll_enable_io_clock(false);
+        } else {
+            rtcio_ll_enable_io_clock(true);
+        }
+    }
+    portEXIT_CRITICAL(&s_io_mux_spinlock);
+}
diff --git a/components/esp_hw_support/sleep_modes.c b/components/esp_hw_support/sleep_modes.c
index 4be257586c..90827e94d8 100644
--- a/components/esp_hw_support/sleep_modes.c
+++ b/components/esp_hw_support/sleep_modes.c
@@ -15,10 +15,10 @@
 #include "esp_sleep.h"
 #include "esp_private/esp_sleep_internal.h"
 #include "esp_private/esp_timer_private.h"
-#include "esp_private/periph_ctrl.h"
 #include "esp_private/rtc_clk.h"
 #include "esp_private/sleep_event.h"
 #include "esp_private/system_internal.h"
+#include "esp_private/io_mux.h"
 #include "esp_log.h"
 #include "esp_newlib.h"
 #include "esp_timer.h"
@@ -119,16 +119,6 @@
 #include "esp_private/sleep_retention.h"
 #endif
 
-#if SOC_LP_IO_CLOCK_IS_INDEPENDENT && !SOC_RTCIO_RCC_IS_INDEPENDENT
-// For `rtcio_hal_function_select` using, clock reg option is inlined in it,
-// so remove the declaration check of __DECLARE_RCC_RC_ATOMIC_ENV
-#define RTCIO_RCC_ATOMIC()                              \
-    for (int i = 1; i ? (periph_rcc_enter(), 1) : 0;    \
-         periph_rcc_exit(), i--)
-#else
-#define RTCIO_RCC_ATOMIC()
-#endif
-
 // If light sleep time is less than that, don't power down flash
 #define FLASH_PD_MIN_SLEEP_TIME_US  2000
 
@@ -1687,10 +1677,11 @@ esp_err_t esp_sleep_enable_ext0_wakeup(gpio_num_t gpio_num, int level)
 static void ext0_wakeup_prepare(void)
 {
     int rtc_gpio_num = s_config.ext0_rtc_gpio_num;
+#if SOC_LP_IO_CLOCK_IS_INDEPENDENT
+    io_mux_enable_lp_io_clock(rtc_gpio_num, true);
+#endif
     rtcio_hal_ext0_set_wakeup_pin(rtc_gpio_num, s_config.ext0_trigger_level);
-    RTCIO_RCC_ATOMIC() {
-        rtcio_hal_function_select(rtc_gpio_num, RTCIO_LL_FUNC_RTC);
-    }
+    rtcio_hal_function_select(rtc_gpio_num, RTCIO_LL_FUNC_RTC);
     rtcio_hal_input_enable(rtc_gpio_num);
 }
 
@@ -1819,11 +1810,12 @@ static void ext1_wakeup_prepare(void)
         if ((rtc_gpio_mask & BIT(rtc_pin)) == 0) {
             continue;
         }
+#if SOC_LP_IO_CLOCK_IS_INDEPENDENT
+        io_mux_enable_lp_io_clock(rtc_pin, true);
+#endif
 #if SOC_RTCIO_INPUT_OUTPUT_SUPPORTED
         // Route pad to RTC
-        RTCIO_RCC_ATOMIC() {
-            rtcio_hal_function_select(rtc_pin, RTCIO_LL_FUNC_RTC);
-        }
+        rtcio_hal_function_select(rtc_pin, RTCIO_LL_FUNC_RTC);
         // set input enable in sleep mode
         rtcio_hal_input_enable(rtc_pin);
 #if SOC_PM_SUPPORT_RTC_PERIPH_PD
@@ -1838,9 +1830,7 @@ static void ext1_wakeup_prepare(void)
         * a pathway to EXT1. */
 
         // Route pad to DIGITAL
-        RTCIO_RCC_ATOMIC() {
-            rtcio_hal_function_select(rtc_pin, RTCIO_LL_FUNC_DIGITAL);
-        }
+        rtcio_hal_function_select(rtc_pin, RTCIO_LL_FUNC_DIGITAL);
         // set input enable
         gpio_ll_input_enable(&GPIO, gpio);
         // hold rtc_pin to use it during sleep state
diff --git a/components/hal/esp32c6/include/hal/rtc_io_ll.h b/components/hal/esp32c6/include/hal/rtc_io_ll.h
index 4f57b0fc7d..0cd64df36d 100644
--- a/components/hal/esp32c6/include/hal/rtc_io_ll.h
+++ b/components/hal/esp32c6/include/hal/rtc_io_ll.h
@@ -68,11 +68,14 @@ static inline void rtcio_ll_iomux_func_sel(int rtcio_num, int func)
 /**
  * @brief Enable/Disable LP_IO peripheral clock.
  *
- * @param enable true to enable the clock / false to enable the clock
+ * @param enable true to enable the clock / false to disable the clock
  */
 static inline void _rtcio_ll_enable_io_clock(bool enable)
 {
     LPPERI.clk_en.lp_io_ck_en = enable;
+    while (LPPERI.clk_en.lp_io_ck_en != enable) {
+        ;
+    }
 }
 
 #define rtcio_ll_enable_io_clock(...) (void)__DECLARE_RCC_ATOMIC_ENV; _rtcio_ll_enable_io_clock(__VA_ARGS__)
@@ -92,9 +95,6 @@ static inline void rtcio_ll_function_select(int rtcio_num, rtcio_ll_func_t func)
     if (func == RTCIO_LL_FUNC_RTC) {
         // 0: GPIO connected to digital GPIO module. 1: GPIO connected to analog RTC module.
         uint32_t sel_mask = HAL_FORCE_READ_U32_REG_FIELD(LP_AON.gpio_mux, gpio_mux_sel);
-        if ((sel_mask & SOC_RTCIO_VALID_RTCIO_MASK) == 0) {
-            _rtcio_ll_enable_io_clock(true);
-        }
         sel_mask |= BIT(rtcio_num);
         HAL_FORCE_MODIFY_U32_REG_FIELD(LP_AON.gpio_mux, gpio_mux_sel, sel_mask);
         //0:RTC FUNCTION 1,2,3:Reserved
@@ -104,9 +104,6 @@ static inline void rtcio_ll_function_select(int rtcio_num, rtcio_ll_func_t func)
         uint32_t sel_mask = HAL_FORCE_READ_U32_REG_FIELD(LP_AON.gpio_mux, gpio_mux_sel);
         sel_mask &= ~BIT(rtcio_num);
         HAL_FORCE_MODIFY_U32_REG_FIELD(LP_AON.gpio_mux, gpio_mux_sel, sel_mask);
-        if ((sel_mask & SOC_RTCIO_VALID_RTCIO_MASK) == 0) {
-            _rtcio_ll_enable_io_clock(false);
-        }
     }
 }
 
diff --git a/components/hal/esp32h2/include/hal/rtc_io_ll.h b/components/hal/esp32h2/include/hal/rtc_io_ll.h
index 5899ce63ad..bfeb758a59 100644
--- a/components/hal/esp32h2/include/hal/rtc_io_ll.h
+++ b/components/hal/esp32h2/include/hal/rtc_io_ll.h
@@ -34,11 +34,14 @@ typedef enum {
 /**
  * @brief Enable/Disable LP_IO peripheral clock.
  *
- * @param enable true to enable the clock / false to enable the clock
+ * @param enable true to enable the clock / false to disable the clock
  */
 static inline void _rtcio_ll_enable_io_clock(bool enable)
 {
     LPPERI.clk_en.lp_io_ck_en = enable;
+    while (LPPERI.clk_en.lp_io_ck_en != enable) {
+        ;
+    }
 }
 
 #define rtcio_ll_enable_io_clock(...) (void)__DECLARE_RCC_ATOMIC_ENV; _rtcio_ll_enable_io_clock(__VA_ARGS__)
@@ -56,9 +59,6 @@ static inline void rtcio_ll_function_select(int rtcio_num, rtcio_ll_func_t func)
     if (func == RTCIO_LL_FUNC_RTC) {
         // 0: GPIO connected to digital GPIO module. 1: GPIO connected to analog RTC module.
         uint32_t sel_mask = HAL_FORCE_READ_U32_REG_FIELD(LP_AON.gpio_mux, gpio_mux_sel);
-        if ((sel_mask & SOC_RTCIO_VALID_RTCIO_MASK) == 0) {
-            _rtcio_ll_enable_io_clock(true);
-        }
         sel_mask |= BIT(rtcio_num);
         HAL_FORCE_MODIFY_U32_REG_FIELD(LP_AON.gpio_mux, gpio_mux_sel, sel_mask);
     } else if (func == RTCIO_LL_FUNC_DIGITAL) {
@@ -66,9 +66,6 @@ static inline void rtcio_ll_function_select(int rtcio_num, rtcio_ll_func_t func)
         uint32_t sel_mask = HAL_FORCE_READ_U32_REG_FIELD(LP_AON.gpio_mux, gpio_mux_sel);
         sel_mask &= ~BIT(rtcio_num);
         HAL_FORCE_MODIFY_U32_REG_FIELD(LP_AON.gpio_mux, gpio_mux_sel, sel_mask);
-        if((sel_mask & SOC_RTCIO_VALID_RTCIO_MASK) == 0) {
-            _rtcio_ll_enable_io_clock(false);
-        }
     }
 }
 
diff --git a/components/hal/include/hal/rtc_io_hal.h b/components/hal/include/hal/rtc_io_hal.h
index 67b2201bca..086bec8c0d 100644
--- a/components/hal/include/hal/rtc_io_hal.h
+++ b/components/hal/include/hal/rtc_io_hal.h
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2015-2023 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2015-2024 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -31,6 +31,14 @@ extern "C" {
 #endif
 
 #if SOC_RTCIO_PIN_COUNT > 0
+
+#if SOC_LP_IO_CLOCK_IS_INDEPENDENT
+/**
+ * Enable rtcio module clock.
+ */
+#define rtcio_hal_enable_io_clock(enable) rtcio_ll_output_enable(enable)
+#endif
+
 /**
  * Select the rtcio function.
  *
diff --git a/components/soc/esp32h2/include/soc/Kconfig.soc_caps.in b/components/soc/esp32h2/include/soc/Kconfig.soc_caps.in
index 9606984626..aa01c91187 100644
--- a/components/soc/esp32h2/include/soc/Kconfig.soc_caps.in
+++ b/components/soc/esp32h2/include/soc/Kconfig.soc_caps.in
@@ -487,6 +487,10 @@ config SOC_GPIO_SUPPORT_RTC_INDEPENDENT
     bool
     default y
 
+config SOC_LP_IO_CLOCK_IS_INDEPENDENT
+    bool
+    default y
+
 config SOC_GPIO_IN_RANGE_MAX
     int
     default 27
diff --git a/components/soc/esp32h2/include/soc/soc_caps.h b/components/soc/esp32h2/include/soc/soc_caps.h
index 2181547f95..f0b27ffc2f 100644
--- a/components/soc/esp32h2/include/soc/soc_caps.h
+++ b/components/soc/esp32h2/include/soc/soc_caps.h
@@ -196,6 +196,9 @@
 // However, there is no way to control pullup/down/capability for IOs under LP function since there is no LP_IOMUX registers
 #define SOC_GPIO_SUPPORT_RTC_INDEPENDENT    (1)
 
+// LP IO peripherals have independent clock gating to manage
+#define SOC_LP_IO_CLOCK_IS_INDEPENDENT      (1)
+
 // GPIO7~14 on ESP32H2 can support chip deep sleep wakeup through EXT1 wake up
 
 #define SOC_GPIO_VALID_GPIO_MASK        ((1U << SOC_GPIO_PIN_COUNT) - 1)
diff --git a/components/soc/include/soc/rtc_io_periph.h b/components/soc/include/soc/rtc_io_periph.h
index 3eadcfda1a..19c4959a57 100644
--- a/components/soc/include/soc/rtc_io_periph.h
+++ b/components/soc/include/soc/rtc_io_periph.h
@@ -18,6 +18,8 @@
 #include "soc/sens_struct.h"
 #endif
 
+#include "soc/io_mux_reg.h"
+
 #ifdef __cplusplus
 extern "C"
 {
diff --git a/components/ulp/lp_core/lp_core/include/ulp_lp_core_gpio.h b/components/ulp/lp_core/lp_core/include/ulp_lp_core_gpio.h
index ffae326114..9719a29576 100644
--- a/components/ulp/lp_core/lp_core/include/ulp_lp_core_gpio.h
+++ b/components/ulp/lp_core/lp_core/include/ulp_lp_core_gpio.h
@@ -49,11 +49,16 @@ typedef enum {
 
 /**
  * @brief Initialize a rtcio pin
+ * @note If IO is used in LP application, `rtc_gpio_init` must be called at least once
+ *       for the using IO before loading LP core firmware in HP Code.
  *
  * @param lp_io_num The rtc io pin to initialize
  */
 static inline void ulp_lp_core_gpio_init(lp_io_num_t lp_io_num)
 {
+#if SOC_LP_IO_CLOCK_IS_INDEPENDENT
+    _rtcio_ll_enable_io_clock(true);
+#endif
     rtcio_ll_function_select(lp_io_num, RTCIO_LL_FUNC_RTC);
 }
 
diff --git a/components/ulp/test_apps/lp_core/main/test_lp_core.c b/components/ulp/test_apps/lp_core/main/test_lp_core.c
index a1dddc91ca..a659b93379 100644
--- a/components/ulp/test_apps/lp_core/main/test_lp_core.c
+++ b/components/ulp/test_apps/lp_core/main/test_lp_core.c
@@ -8,6 +8,7 @@
 #include <inttypes.h>
 #include <sys/time.h>
 #include "soc/soc_caps.h"
+#include "soc/gpio_num.h"
 #include "esp_rom_caps.h"
 #include "lp_core_test_app.h"
 #include "lp_core_test_app_counter.h"
@@ -24,6 +25,7 @@
 #include "unity.h"
 #include "esp_sleep.h"
 #include "esp_timer.h"
+#include "driver/rtc_io.h"
 #include "freertos/FreeRTOS.h"
 #include "freertos/task.h"
 
@@ -328,6 +330,7 @@ TEST_CASE("LP core gpio tests", "[ulp]")
         .lp_timer_sleep_duration_us = LP_TIMER_TEST_SLEEP_DURATION_US,
     };
 
+    rtc_gpio_init(GPIO_NUM_0);
     load_and_start_lp_core_firmware(&cfg, lp_core_main_gpio_bin_start, lp_core_main_gpio_bin_end);
 
     while (!ulp_gpio_test_finished) {