diff --git a/components/esp_driver_touch_sens/test_apps/.build-test-rules.yml b/components/esp_driver_touch_sens/test_apps/.build-test-rules.yml
new file mode 100644
index 0000000000..ff1dc3e64c
--- /dev/null
+++ b/components/esp_driver_touch_sens/test_apps/.build-test-rules.yml
@@ -0,0 +1,10 @@
+components/esp_driver_touch_sens/test_apps/touch_sens:
+  disable:
+    - if: SOC_TOUCH_SENSOR_VERSION != 3
+      temporary: currently driver ng only support version 3
+  disable_test:
+    - if: IDF_TARGET == "esp32p4"
+      temporary: true
+      reason: the runners do not support the pins for touch sensor
+  depends_components:
+    - esp_driver_touch_sens
diff --git a/components/esp_driver_touch_sens/test_apps/touch_sens/CMakeLists.txt b/components/esp_driver_touch_sens/test_apps/touch_sens/CMakeLists.txt
new file mode 100644
index 0000000000..e774828c4d
--- /dev/null
+++ b/components/esp_driver_touch_sens/test_apps/touch_sens/CMakeLists.txt
@@ -0,0 +1,22 @@
+# For more information about build system see
+# https://docs.espressif.com/projects/esp-idf/en/latest/api-guides/build-system.html
+# The following five lines of boilerplate have to be in your project's
+# CMakeLists in this exact order for cmake to work correctly
+cmake_minimum_required(VERSION 3.16)
+
+set(COMPONENTS main)
+include($ENV{IDF_PATH}/tools/cmake/project.cmake)
+project(touch_sens)
+
+if(CONFIG_COMPILER_DUMP_RTL_FILES)
+    add_custom_target(check_test_app_sections ALL
+                      COMMAND ${PYTHON} $ENV{IDF_PATH}/tools/ci/check_callgraph.py
+                      --rtl-dirs ${CMAKE_BINARY_DIR}/esp-idf/esp_driver_touch_sens/,${CMAKE_BINARY_DIR}/esp-idf/hal/
+                      --elf-file ${CMAKE_BINARY_DIR}/touch_sens.elf
+                      find-refs
+                      --from-sections=.iram0.text
+                      --to-sections=.flash.text,.flash.rodata
+                      --exit-code
+                      DEPENDS ${elf}
+                      )
+endif()
diff --git a/components/esp_driver_touch_sens/test_apps/touch_sens/README.md b/components/esp_driver_touch_sens/test_apps/touch_sens/README.md
new file mode 100644
index 0000000000..f8ea707124
--- /dev/null
+++ b/components/esp_driver_touch_sens/test_apps/touch_sens/README.md
@@ -0,0 +1,3 @@
+| Supported Targets | ESP32-P4 |
+| ----------------- | -------- |
+
diff --git a/components/esp_driver_touch_sens/test_apps/touch_sens/main/CMakeLists.txt b/components/esp_driver_touch_sens/test_apps/touch_sens/main/CMakeLists.txt
new file mode 100644
index 0000000000..97285a1122
--- /dev/null
+++ b/components/esp_driver_touch_sens/test_apps/touch_sens/main/CMakeLists.txt
@@ -0,0 +1,6 @@
+set(srcs "test_app_main.c" "test_touch_sens_common.c")
+
+idf_component_register(SRCS ${srcs}
+                    INCLUDE_DIRS "."
+                    PRIV_REQUIRES unity esp_driver_touch_sens
+                    WHOLE_ARCHIVE)
diff --git a/components/esp_driver_touch_sens/test_apps/touch_sens/main/test_app_main.c b/components/esp_driver_touch_sens/test_apps/touch_sens/main/test_app_main.c
new file mode 100644
index 0000000000..a7498bd1eb
--- /dev/null
+++ b/components/esp_driver_touch_sens/test_apps/touch_sens/main/test_app_main.c
@@ -0,0 +1,53 @@
+/*
+ * SPDX-FileCopyrightText: 2023-2024 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include "unity.h"
+#include "unity_test_runner.h"
+#include "esp_heap_caps.h"
+
+// Some resources are lazy allocated in Touch Sensor driver, the threshold is left for that case
+#define TEST_MEMORY_LEAK_THRESHOLD (-300)
+
+static size_t before_free_8bit;
+static size_t before_free_32bit;
+
+static void check_leak(size_t before_free, size_t after_free, const char *type)
+{
+    ssize_t delta = after_free - before_free;
+    printf("MALLOC_CAP_%s: Before %u bytes free, After %u bytes free (delta %d)\n", type, before_free, after_free, delta);
+    TEST_ASSERT_MESSAGE(delta >= TEST_MEMORY_LEAK_THRESHOLD, "memory leak");
+}
+
+void setUp(void)
+{
+    before_free_8bit = heap_caps_get_free_size(MALLOC_CAP_8BIT);
+    before_free_32bit = heap_caps_get_free_size(MALLOC_CAP_32BIT);
+}
+
+void tearDown(void)
+{
+    size_t after_free_8bit = heap_caps_get_free_size(MALLOC_CAP_8BIT);
+    size_t after_free_32bit = heap_caps_get_free_size(MALLOC_CAP_32BIT);
+    check_leak(before_free_8bit, after_free_8bit, "8BIT");
+    check_leak(before_free_32bit, after_free_32bit, "32BIT");
+}
+
+void app_main(void)
+{
+    //   _____                _       ____                              _____         _
+    //  |_   _|__  _   _  ___| |__   / ___|  ___ _ __  ___  ___  _ __  |_   _|__  ___| |_
+    //    | |/ _ \| | | |/ __| '_ \  \___ \ / _ \ '_ \/ __|/ _ \| '__|   | |/ _ \/ __| __|
+    //    | | (_) | |_| | (__| | | |  ___) |  __/ | | \__ \ (_) | |      | |  __/\__ \ |_
+    //    |_|\___/ \__,_|\___|_| |_| |____/ \___|_| |_|___/\___/|_|      |_|\___||___/\__|
+
+    printf("  _____                _       ____                              _____         _   \n");
+    printf(" |_   _|__  _   _  ___| |__   / ___|  ___ _ __  ___  ___  _ __  |_   _|__  ___| |_ \n");
+    printf("   | |/ _ \\| | | |/ __| '_ \\  \\___ \\ / _ \\ '_ \\/ __|/ _ \\| '__|   | |/ _ \\/ __| __|\n");
+    printf("   | | (_) | |_| | (__| | | |  ___) |  __/ | | \\__ \\ (_) | |      | |  __/\\__ \\ |_ \n");
+    printf("   |_|\\___/ \\__,_|\\___|_| |_| |____/ \\___|_| |_|___/\\___/|_|      |_|\\___||___/\\__|\n");
+
+    unity_run_menu();
+}
diff --git a/components/esp_driver_touch_sens/test_apps/touch_sens/main/test_touch_sens_common.c b/components/esp_driver_touch_sens/test_apps/touch_sens/main/test_touch_sens_common.c
new file mode 100644
index 0000000000..8dda1d8d6a
--- /dev/null
+++ b/components/esp_driver_touch_sens/test_apps/touch_sens/main/test_touch_sens_common.c
@@ -0,0 +1,198 @@
+/*
+ * SPDX-FileCopyrightText: 2023-2024 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include <inttypes.h>
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "unity.h"
+#include "driver/touch_sens.h"
+#include "hal/touch_sensor_ll.h"
+#include "esp_log.h"
+#include "esp_attr.h"
+
+static touch_sensor_sample_config_t s_sample_cfg[TOUCH_SAMPLE_CFG_NUM] = {
+    TOUCH_SENSOR_DEFAULT_SAMPLE_CONFIG0(),
+#if TOUCH_SAMPLE_CFG_NUM > 1
+    TOUCH_SENSOR_DEFAULT_SAMPLE_CONFIG1(),
+#endif
+#if TOUCH_SAMPLE_CFG_NUM > 2
+    TOUCH_SENSOR_DEFAULT_SAMPLE_CONFIG2(),
+#endif
+};
+
+static touch_channel_config_t s_chan_cfg = {
+    .active_thresh = {
+        5000,
+#if TOUCH_SAMPLE_CFG_NUM > 1
+        2500,
+#endif
+#if TOUCH_SAMPLE_CFG_NUM > 2
+        1000,
+#endif
+    },
+};
+
+TEST_CASE("touch_sens_install_uninstall_test", "[touch]")
+{
+    touch_sensor_handle_t touch = NULL;
+    touch_channel_handle_t touch_chan[TOUCH_TOTAL_CHAN_NUM] = {NULL};
+
+    touch_sensor_config_t sens_cfg = TOUCH_SENSOR_DEFAULT_BASIC_CONFIG(TOUCH_SAMPLE_CFG_NUM, s_sample_cfg);
+    /* Allocate new controller */
+    TEST_ESP_OK(touch_sensor_new_controller(&sens_cfg, &touch));
+    TEST_ASSERT(touch_sensor_new_controller(&sens_cfg, &touch) == ESP_ERR_INVALID_STATE);
+    /* Configuring the filter */
+    touch_sensor_filter_config_t filter_cfg = TOUCH_SENSOR_DEFAULT_FILTER_CONFIG();
+    TEST_ESP_OK(touch_sensor_config_filter(touch, &filter_cfg));
+
+    for (int i = 0; i < TOUCH_TOTAL_CHAN_NUM; i++) {
+        TEST_ESP_OK(touch_sensor_new_channel(touch, i, &s_chan_cfg, &touch_chan[i]));
+    }
+    touch_channel_handle_t fault_chan = NULL;
+    TEST_ASSERT(touch_sensor_new_channel(touch, TOUCH_TOTAL_CHAN_NUM, &s_chan_cfg, &fault_chan) == ESP_ERR_INVALID_ARG);
+    TEST_ASSERT(touch_sensor_new_channel(touch, 0, &s_chan_cfg, &fault_chan) == ESP_ERR_INVALID_STATE);
+
+    TEST_ESP_OK(touch_sensor_enable(touch));
+    TEST_ASSERT(touch_sensor_del_channel(touch_chan[0]) == ESP_ERR_INVALID_STATE);
+    TEST_ESP_OK(touch_sensor_disable(touch));
+
+    TEST_ASSERT(touch_sensor_del_controller(touch) == ESP_ERR_INVALID_STATE);
+
+    for (int i = 0; i < TOUCH_TOTAL_CHAN_NUM; i++) {
+        TEST_ESP_OK(touch_sensor_del_channel(touch_chan[i]));
+    }
+    TEST_ESP_OK(touch_sensor_del_controller(touch));
+}
+
+typedef struct {
+    int active_count;
+    int inactive_count;
+} test_touch_cb_data_t;
+
+static touch_channel_config_t s_test_get_chan_cfg_by_benchmark(uint32_t benchmark[], uint32_t num, float coeff)
+{
+    touch_channel_config_t chan_cfg = {};
+    for (int i = 0; i < num; i++) {
+        chan_cfg.active_thresh[i] = benchmark[i] * coeff;
+        printf("[Sampler %d] benchmark %5"PRIu32" thresh %4"PRIu32"\n",
+               i, benchmark[i], chan_cfg.active_thresh[i]);
+    }
+    return chan_cfg;
+}
+
+static void s_test_touch_do_initial_scanning(touch_sensor_handle_t touch, int scan_times)
+{
+    /* Enable the touch sensor to do the initial scanning, so that to initialize the channel data */
+    TEST_ESP_OK(touch_sensor_enable(touch));
+    /* Scan the enabled touch channels for several times, to make sure the initial channel data is stable */
+    for (int i = 0; i < scan_times; i++) {
+        TEST_ESP_OK(touch_sensor_trigger_oneshot_scanning(touch, 2000));
+    }
+    /* Disable the touch channel to rollback the state */
+    TEST_ESP_OK(touch_sensor_disable(touch));
+}
+
+#if CONFIG_TOUCH_ISR_IRAM_SAFE
+#define TEST_TCH_IRAM_ATTR  IRAM_ATTR
+#else
+#define TEST_TCH_IRAM_ATTR
+#endif
+
+static bool TEST_TCH_IRAM_ATTR s_test_touch_on_active_callback(touch_sensor_handle_t sens_handle, const touch_active_event_data_t *event, void *user_ctx)
+{
+    ESP_EARLY_LOGI("touch_callback", "[CH %d] active", (int)event->chan_id);
+    test_touch_cb_data_t *cb_data = (test_touch_cb_data_t *)user_ctx;
+    cb_data->active_count++;
+    return false;
+}
+
+static bool TEST_TCH_IRAM_ATTR s_test_touch_on_inactive_callback(touch_sensor_handle_t sens_handle, const touch_inactive_event_data_t *event, void *user_ctx)
+{
+    ESP_EARLY_LOGI("touch_callback", "[CH %d] inactive", (int)event->chan_id);
+    test_touch_cb_data_t *cb_data = (test_touch_cb_data_t *)user_ctx;
+    cb_data->inactive_count++;
+    return false;
+}
+
+static void s_test_touch_simulate_touch(touch_sensor_handle_t touch, touch_channel_handle_t touch_chan, bool active)
+{
+    touch_ll_set_internal_capacitor(active ? 0x7f : 0);
+}
+
+static void s_test_touch_log_data(touch_channel_handle_t touch_chan, uint32_t sample_cfg_num, const char *tag)
+{
+    uint32_t data[sample_cfg_num];
+    TEST_ESP_OK(touch_channel_read_data(touch_chan, TOUCH_CHAN_DATA_TYPE_SMOOTH, data));
+    printf("%s:", tag);
+    for (int i = 0; i < sample_cfg_num; i++) {
+        printf(" %"PRIu32, data[i]);
+    }
+    printf("\n");
+}
+
+#define TEST_ACTIVE_THRESH_RATIO    (0.01f)
+
+TEST_CASE("touch_sens_active_inactive_test", "[touch]")
+{
+    touch_sensor_handle_t touch = NULL;
+    touch_channel_handle_t touch_chan = NULL;
+
+    touch_sensor_config_t sens_cfg = TOUCH_SENSOR_DEFAULT_BASIC_CONFIG(TOUCH_SAMPLE_CFG_NUM, s_sample_cfg);
+    TEST_ESP_OK(touch_sensor_new_controller(&sens_cfg, &touch));
+
+    /* Configuring the filter */
+    touch_sensor_filter_config_t filter_cfg = TOUCH_SENSOR_DEFAULT_FILTER_CONFIG();
+    TEST_ESP_OK(touch_sensor_config_filter(touch, &filter_cfg));
+    TEST_ESP_OK(touch_sensor_new_channel(touch, 0, &s_chan_cfg, &touch_chan));
+    /* Connect the touch channels to the internal capacitor */
+    touch_ll_enable_internal_capacitor(true);
+
+    s_test_touch_do_initial_scanning(touch, 3);
+
+    /* Read benchmark */
+    uint32_t benchmark[TOUCH_SAMPLE_CFG_NUM] = {0};
+    TEST_ESP_OK(touch_channel_read_data(touch_chan, TOUCH_CHAN_DATA_TYPE_BENCHMARK, benchmark));
+    /* Re-configure the threshold according to the benchmark */
+    touch_channel_config_t chan_cfg = s_test_get_chan_cfg_by_benchmark(benchmark, TOUCH_SAMPLE_CFG_NUM, TEST_ACTIVE_THRESH_RATIO);
+    TEST_ESP_OK(touch_sensor_reconfig_channel(touch_chan, &chan_cfg));
+
+    touch_event_callbacks_t callbacks = {
+        .on_active = s_test_touch_on_active_callback,
+        .on_inactive = s_test_touch_on_inactive_callback,
+    };
+    test_touch_cb_data_t cb_data = {};
+    TEST_ESP_OK(touch_sensor_register_callbacks(touch, &callbacks, &cb_data));
+
+    TEST_ESP_OK(touch_sensor_enable(touch));
+    TEST_ESP_OK(touch_sensor_start_continuous_scanning(touch));
+    vTaskDelay(pdMS_TO_TICKS(20));
+
+    int touch_cnt = 3;
+    for (int i = 0; i < touch_cnt; i++) {
+        printf("\nSimulate Touch [%d] ->\n--------------------------\n", i + 1);
+        // Read data before touched
+        s_test_touch_log_data(touch_chan, TOUCH_SAMPLE_CFG_NUM, "Data Before");
+        // Simulate touch
+        s_test_touch_simulate_touch(touch, touch_chan, true);
+        vTaskDelay(pdMS_TO_TICKS(50));
+
+        // Read data after touched
+        s_test_touch_log_data(touch_chan, TOUCH_SAMPLE_CFG_NUM, "Data After ");
+        // Simulate release
+        s_test_touch_simulate_touch(touch, touch_chan, false);
+        vTaskDelay(pdMS_TO_TICKS(50));
+    }
+    printf("\n");
+
+    TEST_ESP_OK(touch_sensor_stop_continuous_scanning(touch));
+    TEST_ESP_OK(touch_sensor_disable(touch));
+    TEST_ESP_OK(touch_sensor_del_channel(touch_chan));
+    TEST_ESP_OK(touch_sensor_del_controller(touch));
+
+    /* Check the callback count */
+    TEST_ASSERT_EQUAL_INT32(touch_cnt, cb_data.active_count);
+    TEST_ASSERT_EQUAL_INT32(touch_cnt, cb_data.inactive_count);
+}
diff --git a/components/esp_driver_touch_sens/test_apps/touch_sens/pytest_touch_sens.py b/components/esp_driver_touch_sens/test_apps/touch_sens/pytest_touch_sens.py
new file mode 100644
index 0000000000..871cdb6baf
--- /dev/null
+++ b/components/esp_driver_touch_sens/test_apps/touch_sens/pytest_touch_sens.py
@@ -0,0 +1,19 @@
+# SPDX-FileCopyrightText: 2024 Espressif Systems (Shanghai) CO LTD
+# SPDX-License-Identifier: CC0-1.0
+import pytest
+from pytest_embedded import Dut
+
+
+@pytest.mark.esp32p4
+@pytest.mark.temp_skip_ci(targets=['esp32p4'], reason='esp32p4 runners do not support touch pins')
+@pytest.mark.generic
+@pytest.mark.parametrize(
+    'config',
+    [
+        'release',
+        'iram_safe',
+    ],
+    indirect=True,
+)
+def test_touch_sens(dut: Dut) -> None:
+    dut.run_all_single_board_cases()
diff --git a/components/esp_driver_touch_sens/test_apps/touch_sens/sdkconfig.ci.iram_safe b/components/esp_driver_touch_sens/test_apps/touch_sens/sdkconfig.ci.iram_safe
new file mode 100644
index 0000000000..e8074e7fa8
--- /dev/null
+++ b/components/esp_driver_touch_sens/test_apps/touch_sens/sdkconfig.ci.iram_safe
@@ -0,0 +1,7 @@
+CONFIG_COMPILER_DUMP_RTL_FILES=y
+CONFIG_TOUCH_CTRL_FUNC_IN_IRAM=y
+CONFIG_TOUCH_ISR_IRAM_SAFE=y
+CONFIG_COMPILER_OPTIMIZATION_ASSERTIONS_DISABLE=y
+CONFIG_COMPILER_OPTIMIZATION_NONE=y
+# silent the error check, as the error string are stored in rodata, causing RTL check failure
+CONFIG_COMPILER_OPTIMIZATION_CHECKS_SILENT=y
diff --git a/components/esp_driver_touch_sens/test_apps/touch_sens/sdkconfig.ci.release b/components/esp_driver_touch_sens/test_apps/touch_sens/sdkconfig.ci.release
new file mode 100644
index 0000000000..91d93f163e
--- /dev/null
+++ b/components/esp_driver_touch_sens/test_apps/touch_sens/sdkconfig.ci.release
@@ -0,0 +1,5 @@
+CONFIG_PM_ENABLE=y
+CONFIG_FREERTOS_USE_TICKLESS_IDLE=y
+CONFIG_COMPILER_OPTIMIZATION_SIZE=y
+CONFIG_BOOTLOADER_COMPILER_OPTIMIZATION_SIZE=y
+CONFIG_COMPILER_OPTIMIZATION_ASSERTIONS_SILENT=y
diff --git a/components/esp_driver_touch_sens/test_apps/touch_sens/sdkconfig.defaults b/components/esp_driver_touch_sens/test_apps/touch_sens/sdkconfig.defaults
new file mode 100644
index 0000000000..b308cb2ddd
--- /dev/null
+++ b/components/esp_driver_touch_sens/test_apps/touch_sens/sdkconfig.defaults
@@ -0,0 +1,2 @@
+CONFIG_FREERTOS_HZ=1000
+CONFIG_ESP_TASK_WDT=n