diff --git a/components/soc/esp32h2/include/soc/soc.h b/components/soc/esp32h2/include/soc/soc.h
index 2b61061dcc..5a95925d27 100644
--- a/components/soc/esp32h2/include/soc/soc.h
+++ b/components/soc/esp32h2/include/soc/soc.h
@@ -176,6 +176,9 @@
 #define SOC_DIRAM_DRAM_LOW    0x40800000
 #define SOC_DIRAM_DRAM_HIGH   0x40850000
 
+#define MAP_DRAM_TO_IRAM(addr) (addr)
+#define MAP_IRAM_TO_DRAM(addr) (addr)
+
 // Region of memory accessible via DMA. See esp_ptr_dma_capable().
 #define SOC_DMA_LOW  0x40800000
 #define SOC_DMA_HIGH 0x40850000
diff --git a/tools/test_apps/.build-test-rules.yml b/tools/test_apps/.build-test-rules.yml
index 4f90e9521a..d2cf4dac7a 100644
--- a/tools/test_apps/.build-test-rules.yml
+++ b/tools/test_apps/.build-test-rules.yml
@@ -161,7 +161,7 @@ tools/test_apps/system/panic:
   enable:
     - if: INCLUDE_DEFAULT == 1 or IDF_TARGET == "esp32h4"
   disable_test:
-    - if: IDF_TARGET not in ["esp32", "esp32s2", "esp32c3", "esp32s3", "esp32c2", "esp32c6"]
+    - if: IDF_TARGET not in ["esp32", "esp32s2", "esp32c3", "esp32s3", "esp32c2", "esp32c6", "esp32h2"]
       temporary: true
       reason: test app not ported to this target yet
 
diff --git a/tools/test_apps/system/panic/pytest_panic.py b/tools/test_apps/system/panic/pytest_panic.py
index 005b96e69e..420d0d26fb 100644
--- a/tools/test_apps/system/panic/pytest_panic.py
+++ b/tools/test_apps/system/panic/pytest_panic.py
@@ -480,12 +480,13 @@ def test_panic_delay(dut: PanicTestDut) -> None:
 #########################
 
 # Memprot-related tests are supported only on targets with PMS/PMA peripheral;
-# currently ESP32-S2, ESP32-C3, ESP32-C2, and ESP32-C6 are supported
+# currently ESP32-S2, ESP32-C3, ESP32-C2, ESP32-H2 and ESP32-C6 are supported
 CONFIGS_MEMPROT_IDRAM = [
     pytest.param('memprot_esp32s2', marks=[pytest.mark.esp32s2]),
     pytest.param('memprot_esp32c3', marks=[pytest.mark.esp32c3]),
     pytest.param('memprot_esp32c2', marks=[pytest.mark.esp32c2]),
-    pytest.param('memprot_esp32c6', marks=[pytest.mark.esp32c6])
+    pytest.param('memprot_esp32c6', marks=[pytest.mark.esp32c6]),
+    pytest.param('memprot_esp32h2', marks=[pytest.mark.esp32h2])
 ]
 
 CONFIGS_MEMPROT_DCACHE = [
@@ -495,7 +496,8 @@ CONFIGS_MEMPROT_DCACHE = [
 CONFIGS_MEMPROT_RTC_FAST_MEM = [
     pytest.param('memprot_esp32s2', marks=[pytest.mark.esp32s2]),
     pytest.param('memprot_esp32c3', marks=[pytest.mark.esp32c3]),
-    pytest.param('memprot_esp32c6', marks=[pytest.mark.esp32c6])
+    pytest.param('memprot_esp32c6', marks=[pytest.mark.esp32c6]),
+    pytest.param('memprot_esp32h2', marks=[pytest.mark.esp32h2])
 ]
 
 CONFIGS_MEMPROT_RTC_SLOW_MEM = [
@@ -534,7 +536,7 @@ def test_iram_reg1_write_violation(dut: PanicTestDut, test_func_name: str) -> No
         dut.expect_backtrace()
     elif dut.target == 'esp32c3':
         dut.expect_exact(r'Test error: Test function has returned')
-    elif dut.target in ['esp32c2', 'esp32c6']:
+    elif dut.target in ['esp32c2', 'esp32c6', 'esp32h2']:
         dut.expect_gme('Store access fault')
         dut.expect_reg_dump(0)
         dut.expect_stack_dump()
@@ -557,7 +559,7 @@ def test_iram_reg2_write_violation(dut: PanicTestDut, test_func_name: str) -> No
         dut.expect(r'  operation type: (\S+)')
         dut.expect_reg_dump(0)
         dut.expect_stack_dump()
-    elif dut.target in ['esp32c2', 'esp32c6']:
+    elif dut.target in ['esp32c2', 'esp32c6', 'esp32h2']:
         dut.expect_gme('Store access fault')
         dut.expect_reg_dump(0)
         dut.expect_stack_dump()
@@ -580,7 +582,7 @@ def test_iram_reg3_write_violation(dut: PanicTestDut, test_func_name: str) -> No
         dut.expect(r'  operation type: (\S+)')
         dut.expect_reg_dump(0)
         dut.expect_stack_dump()
-    elif dut.target in ['esp32c2', 'esp32c6']:
+    elif dut.target in ['esp32c2', 'esp32c6', 'esp32h2']:
         dut.expect_gme('Store access fault')
         dut.expect_reg_dump(0)
         dut.expect_stack_dump()
@@ -605,7 +607,7 @@ def test_iram_reg4_write_violation(dut: PanicTestDut, test_func_name: str) -> No
         dut.expect(r'  operation type: (\S+)')
         dut.expect_reg_dump(0)
         dut.expect_stack_dump()
-    elif dut.target in ['esp32c2', 'esp32c6']:
+    elif dut.target in ['esp32c2', 'esp32c6', 'eps32h2']:
         dut.expect_gme('Store access fault')
         dut.expect_reg_dump(0)
         dut.expect_stack_dump()
@@ -623,7 +625,7 @@ def test_dram_reg1_execute_violation(dut: PanicTestDut, test_func_name: str) ->
         dut.expect(r'Unknown operation at address [0-9xa-f]+ not permitted \((\S+)\)')
         dut.expect_reg_dump(0)
         dut.expect_corrupted_backtrace()
-    elif dut.target in ['esp32c3', 'esp32c2', 'esp32c6']:
+    elif dut.target in ['esp32c3', 'esp32c2', 'esp32c6', 'esp32h2']:
         dut.expect_gme('Instruction access fault')
         dut.expect_reg_dump(0)
         dut.expect_stack_dump()
@@ -638,7 +640,7 @@ def test_dram_reg2_execute_violation(dut: PanicTestDut, test_func_name: str) ->
         dut.expect_gme('InstructionFetchError')
         dut.expect_reg_dump(0)
         dut.expect_corrupted_backtrace()
-    elif dut.target in ['esp32c3', 'esp32c2', 'esp32c6']:
+    elif dut.target in ['esp32c3', 'esp32c2', 'esp32c6', 'esp32h2']:
         dut.expect_gme('Instruction access fault')
         dut.expect_reg_dump(0)
         dut.expect_stack_dump()
@@ -653,7 +655,7 @@ def test_rtc_fast_reg1_execute_violation(dut: PanicTestDut, test_func_name: str)
 
 @pytest.mark.parametrize('config', CONFIGS_MEMPROT_RTC_FAST_MEM, indirect=True)
 @pytest.mark.generic
-@pytest.mark.skipif('config.getvalue("target") == "esp32c6"', reason='Not a violation condition because it does not have PMS peripheral')
+@pytest.mark.skipif('config.getvalue("target") in ["esp32c6", "esp32h2"]', reason='Not a violation condition because it does not have PMS peripheral')
 def test_rtc_fast_reg2_execute_violation(dut: PanicTestDut, test_func_name: str) -> None:
     dut.run_test_func(test_func_name)
     dut.expect_gme('Memory protection fault')
@@ -689,7 +691,7 @@ def test_rtc_fast_reg3_execute_violation(dut: PanicTestDut, test_func_name: str)
         dut.expect(r'  operation type: (\S+)')
         dut.expect_reg_dump(0)
         dut.expect_stack_dump()
-    elif dut.target == 'esp32c6':
+    elif dut.target in ['esp32c6', 'esp32h2']:
         dut.expect_gme('Instruction access fault')
         dut.expect_reg_dump(0)
         dut.expect_stack_dump()
diff --git a/tools/test_apps/system/panic/sdkconfig.ci.memprot_esp32h2 b/tools/test_apps/system/panic/sdkconfig.ci.memprot_esp32h2
new file mode 100644
index 0000000000..c14d9b8104
--- /dev/null
+++ b/tools/test_apps/system/panic/sdkconfig.ci.memprot_esp32h2
@@ -0,0 +1,8 @@
+# Restricting to ESP32H2
+CONFIG_IDF_TARGET="esp32h2"
+
+# Enabling memory protection
+CONFIG_ESP_SYSTEM_PMP_IDRAM_SPLIT=y
+
+# Enable memprot test
+CONFIG_TEST_MEMPROT=y