diff --git a/components/esp_driver_i2c/i2c_master.c b/components/esp_driver_i2c/i2c_master.c
index a0fadc64d5..1b4e9d0c8a 100644
--- a/components/esp_driver_i2c/i2c_master.c
+++ b/components/esp_driver_i2c/i2c_master.c
@@ -1290,6 +1290,34 @@ esp_err_t i2c_master_probe(i2c_master_bus_handle_t bus_handle, uint16_t address,
     return ret;
 }
 
+esp_err_t i2c_master_device_change_address(i2c_master_dev_handle_t i2c_dev, uint16_t new_device_address, int timeout_ms)
+{
+    ESP_RETURN_ON_FALSE(i2c_dev != NULL, ESP_ERR_INVALID_ARG, TAG, "i2c handle not initialized");
+
+    TickType_t ticks_to_wait = (timeout_ms == -1) ? portMAX_DELAY : pdMS_TO_TICKS(timeout_ms);
+    if (xSemaphoreTake(i2c_dev->master_bus->bus_lock_mux, ticks_to_wait) != pdTRUE) {
+        ESP_LOGE(TAG, "change address take semaphore timeout");
+        return ESP_ERR_TIMEOUT;
+    }
+
+    if (i2c_dev->addr_10bits == I2C_ADDR_BIT_LEN_7) {
+        if (new_device_address > 0x7f) {
+            ESP_LOGE(TAG, "The address is now 7 bit address mode, new address is larger than 7 bits");
+            return ESP_ERR_INVALID_ARG;
+        }
+    } else {
+        if (new_device_address <= 0x7f) {
+            ESP_LOGE(TAG, "The address is now 10 bit address mode, new address is smaller than 10 bits");
+            return ESP_ERR_INVALID_ARG;
+        }
+    }
+
+    i2c_dev->device_address = new_device_address;
+
+    xSemaphoreGive(i2c_dev->master_bus->bus_lock_mux);
+    return ESP_OK;
+}
+
 esp_err_t i2c_master_register_event_callbacks(i2c_master_dev_handle_t i2c_dev, const i2c_master_event_callbacks_t *cbs, void *user_data)
 {
     ESP_RETURN_ON_FALSE(i2c_dev != NULL, ESP_ERR_INVALID_ARG, TAG, "i2c handle not initialized");
diff --git a/components/esp_driver_i2c/include/driver/i2c_master.h b/components/esp_driver_i2c/include/driver/i2c_master.h
index 8518a45d0c..d5c18fb123 100644
--- a/components/esp_driver_i2c/include/driver/i2c_master.h
+++ b/components/esp_driver_i2c/include/driver/i2c_master.h
@@ -247,6 +247,29 @@ esp_err_t i2c_master_register_event_callbacks(i2c_master_dev_handle_t i2c_dev, c
  */
 esp_err_t i2c_master_bus_reset(i2c_master_bus_handle_t bus_handle);
 
+/**
+ * @brief Change the I2C device address at runtime.
+ *
+ * This function updates the device address of an existing I2C device handle.
+ * It is useful for devices that support dynamic address assignment or when
+ * switching communication to a device with a different address on the same bus.
+ *
+ * @param[in] i2c_dev           I2C device handle.
+ * @param[in] new_device_address The new device address.
+ * @param[in] timeout_ms        Timeout for the address change operation, in milliseconds.
+ *
+ * @return
+ *      - ESP_OK: Address successfully changed.
+ *      - ESP_ERR_INVALID_ARG: Invalid arguments (e.g., NULL handle or invalid address).
+ *      - ESP_ERR_TIMEOUT: Operation timed out.
+ *
+ * @note
+ *      - This function does not send commands to the I2C device. It only updates
+ *        the address used in subsequent transactions through the I2C handle.
+ *      - Ensure that the new address is valid and does not conflict with other devices on the bus.
+ */
+esp_err_t i2c_master_device_change_address(i2c_master_dev_handle_t i2c_dev, uint16_t new_device_address, int timeout_ms);
+
 /**
  * @brief Wait for all pending I2C transactions done
  *