diff --git a/components/esp_driver_i2c/i2c_common.c b/components/esp_driver_i2c/i2c_common.c
index b2590a7bae..87042b404a 100644
--- a/components/esp_driver_i2c/i2c_common.c
+++ b/components/esp_driver_i2c/i2c_common.c
@@ -312,29 +312,27 @@ static esp_err_t s_hp_i2c_pins_config(i2c_bus_handle_t handle)
     int port_id = handle->port_num;
 
     // SDA pin configurations
-    gpio_config_t sda_conf = {
-        .intr_type = GPIO_INTR_DISABLE,
-        .mode = GPIO_MODE_INPUT_OUTPUT_OD,
-        .pull_down_en = false,
-        .pull_up_en = handle->pull_up_enable ? GPIO_PULLUP_ENABLE : GPIO_PULLUP_DISABLE,
-        .pin_bit_mask = 1ULL << handle->sda_num,
-    };
     ESP_RETURN_ON_ERROR(gpio_set_level(handle->sda_num, 1), TAG, "i2c sda pin set level failed");
-    ESP_RETURN_ON_ERROR(gpio_config(&sda_conf), TAG, "config GPIO failed");
+    gpio_input_enable(handle->sda_num);
+    gpio_od_enable(handle->sda_num);
+    if (handle->pull_up_enable) {
+        gpio_pullup_en(handle->sda_num);
+    } else {
+        gpio_pullup_dis(handle->sda_num);
+    }
     gpio_func_sel(handle->sda_num, PIN_FUNC_GPIO);
     esp_rom_gpio_connect_out_signal(handle->sda_num, i2c_periph_signal[port_id].sda_out_sig, 0, 0);
     esp_rom_gpio_connect_in_signal(handle->sda_num, i2c_periph_signal[port_id].sda_in_sig, 0);
 
     // SCL pin configurations
-    gpio_config_t scl_conf = {
-        .intr_type = GPIO_INTR_DISABLE,
-        .mode = GPIO_MODE_INPUT_OUTPUT_OD,
-        .pull_down_en = false,
-        .pull_up_en = handle->pull_up_enable ? GPIO_PULLUP_ENABLE : GPIO_PULLUP_DISABLE,
-        .pin_bit_mask = 1ULL << handle->scl_num,
-    };
     ESP_RETURN_ON_ERROR(gpio_set_level(handle->scl_num, 1), TAG, "i2c scl pin set level failed");
-    ESP_RETURN_ON_ERROR(gpio_config(&scl_conf), TAG, "config GPIO failed");
+    gpio_input_enable(handle->scl_num);
+    gpio_od_enable(handle->scl_num);
+    if (handle->pull_up_enable) {
+        gpio_pullup_en(handle->scl_num);
+    } else {
+        gpio_pullup_dis(handle->scl_num);
+    }
     gpio_func_sel(handle->scl_num, PIN_FUNC_GPIO);
     esp_rom_gpio_connect_out_signal(handle->scl_num, i2c_periph_signal[port_id].scl_out_sig, 0, 0);
     esp_rom_gpio_connect_in_signal(handle->scl_num, i2c_periph_signal[port_id].scl_in_sig, 0);
@@ -406,3 +404,28 @@ esp_err_t i2c_common_set_pins(i2c_bus_handle_t handle)
 
     return ret;
 }
+
+esp_err_t i2c_common_deinit_pins(i2c_bus_handle_t handle)
+{
+    int port_id = handle->port_num;
+
+    if (handle->is_lp_i2c == false) {
+        ESP_RETURN_ON_ERROR(gpio_output_disable(handle->sda_num), TAG, "disable i2c pins failed");
+        esp_rom_gpio_connect_in_signal(GPIO_MATRIX_CONST_ZERO_INPUT, i2c_periph_signal[port_id].sda_in_sig, 0);
+
+        ESP_RETURN_ON_ERROR(gpio_output_disable(handle->scl_num), TAG, "disable i2c pins failed");
+        esp_rom_gpio_connect_in_signal(GPIO_MATRIX_CONST_ZERO_INPUT, i2c_periph_signal[port_id].scl_in_sig, 0);
+    }
+#if SOC_LP_I2C_SUPPORTED
+    else {
+        ESP_RETURN_ON_ERROR(rtc_gpio_deinit(handle->sda_num), TAG, "deinit rtc gpio failed");
+        ESP_RETURN_ON_ERROR(rtc_gpio_deinit(handle->scl_num), TAG, "deinit rtc gpio failed");
+#if SOC_LP_GPIO_MATRIX_SUPPORTED
+        lp_gpio_connect_in_signal(GPIO_MATRIX_CONST_ZERO_INPUT, i2c_periph_signal[port_id].scl_in_sig, 0);
+        lp_gpio_connect_in_signal(GPIO_MATRIX_CONST_ZERO_INPUT, i2c_periph_signal[port_id].sda_in_sig, 0);
+#endif
+    }
+#endif
+
+    return ESP_OK;
+}
diff --git a/components/esp_driver_i2c/i2c_master.c b/components/esp_driver_i2c/i2c_master.c
index 838d0578d7..5b1ef7c723 100644
--- a/components/esp_driver_i2c/i2c_master.c
+++ b/components/esp_driver_i2c/i2c_master.c
@@ -784,6 +784,7 @@ static esp_err_t i2c_master_bus_destroy(i2c_master_bus_handle_t bus_handle)
 {
     ESP_RETURN_ON_FALSE(bus_handle, ESP_ERR_INVALID_ARG, TAG, "no memory for i2c master bus");
     i2c_master_bus_handle_t i2c_master = bus_handle;
+    i2c_common_deinit_pins(i2c_master->base);
     if (i2c_release_bus_handle(i2c_master->base) == ESP_OK) {
         if (i2c_master) {
             if (i2c_master->bus_lock_mux) {
diff --git a/components/esp_driver_i2c/i2c_private.h b/components/esp_driver_i2c/i2c_private.h
index 9793876551..b5be2a800b 100644
--- a/components/esp_driver_i2c/i2c_private.h
+++ b/components/esp_driver_i2c/i2c_private.h
@@ -258,6 +258,17 @@ esp_err_t i2c_select_periph_clock(i2c_bus_handle_t handle, soc_module_clk_t clk_
  */
 esp_err_t i2c_common_set_pins(i2c_bus_handle_t handle);
 
+/**
+ * @brief Deinit I2C SCL/SDA pins
+ *
+ * @param handle I2C bus handle
+ * @return
+ *      - ESP_OK: I2C set SCL/SDA pins successfully.
+ *      - ESP_ERR_INVALID_ARG: Argument error.
+ *      - Otherwise: Set SCL/SDA IOs error.
+ */
+esp_err_t i2c_common_deinit_pins(i2c_bus_handle_t handle);
+
 /**
  * @brief Check whether bus is acquired
  *
diff --git a/components/esp_driver_i2c/i2c_slave.c b/components/esp_driver_i2c/i2c_slave.c
index 2cb3da2595..b5f16fb9fc 100644
--- a/components/esp_driver_i2c/i2c_slave.c
+++ b/components/esp_driver_i2c/i2c_slave.c
@@ -294,6 +294,7 @@ static esp_err_t i2c_slave_bus_destroy(i2c_slave_dev_handle_t i2c_slave)
 {
     if (i2c_slave) {
         i2c_ll_disable_intr_mask(i2c_slave->base->hal.dev, I2C_LL_SLAVE_EVENT_INTR);
+        i2c_common_deinit_pins(i2c_slave->base);
         if (i2c_slave->slv_rx_mux) {
             vSemaphoreDeleteWithCaps(i2c_slave->slv_rx_mux);
             i2c_slave->slv_rx_mux = NULL;
diff --git a/components/esp_driver_i2c/include/driver/i2c_master.h b/components/esp_driver_i2c/include/driver/i2c_master.h
index 92928b1441..8518a45d0c 100644
--- a/components/esp_driver_i2c/include/driver/i2c_master.h
+++ b/components/esp_driver_i2c/include/driver/i2c_master.h
@@ -260,6 +260,22 @@ esp_err_t i2c_master_bus_reset(i2c_master_bus_handle_t bus_handle);
  */
 esp_err_t i2c_master_bus_wait_all_done(i2c_master_bus_handle_t bus_handle, int timeout_ms);
 
+/**
+ * @brief Retrieves the I2C master bus handle for a specified I2C port number.
+ *
+ * This function retrieves the I2C master bus handle for the
+ * given I2C port number. Please make sure the handle has already been initialized, and this
+ * function would simply returns the existing handle. Note that the returned handle still can't be used concurrently
+ *
+ * @param port_num I2C port number for which the handle is to be retrieved.
+ * @param ret_handle Pointer to a variable where the retrieved handle will be stored.
+ * @return
+ *     - ESP_OK: Success. The handle is retrieved successfully.
+ *     - ESP_ERR_INVALID_ARG: Invalid argument, such as invalid port number
+ *     - ESP_ERR_INVALID_STATE: Invalid state, such as the I2C port is not initialized.
+ */
+esp_err_t i2c_master_get_bus_handle(i2c_port_num_t port_num, i2c_master_bus_handle_t *ret_handle);
+
 #ifdef __cplusplus
 }
 #endif
diff --git a/components/esp_driver_i2c/include/esp_private/i2c_platform.h b/components/esp_driver_i2c/include/esp_private/i2c_platform.h
index f18cf53c99..3b8bee7b25 100644
--- a/components/esp_driver_i2c/include/esp_private/i2c_platform.h
+++ b/components/esp_driver_i2c/include/esp_private/i2c_platform.h
@@ -15,21 +15,7 @@
 extern "C" {
 #endif
 
-/**
- * @brief Retrieves the I2C master bus handle for a specified I2C port number.
- *
- * This function retrieves the I2C master bus handle for the
- * given I2C port number. Please make sure the handle has already been initialized, and this
- * function would simply returns the existing handle. Note that the returned handle still can't be used concurrently
- *
- * @param port_num I2C port number for which the handle is to be retrieved.
- * @param ret_handle Pointer to a variable where the retrieved handle will be stored.
- * @return
- *     - ESP_OK: Success. The handle is retrieved successfully.
- *     - ESP_ERR_INVALID_ARG: Invalid argument, such as invalid port number
- *     - ESP_ERR_INVALID_STATE: Invalid state, such as the I2C port is not initialized.
- */
-esp_err_t i2c_master_get_bus_handle(i2c_port_num_t port_num, i2c_master_bus_handle_t *ret_handle);
+// Empty file in order not cause breaking change. Should be removed in next version.
 
 #ifdef __cplusplus
 }
diff --git a/components/esp_driver_i2c/test_apps/i2c_test_apps/main/test_i2c_common.c b/components/esp_driver_i2c/test_apps/i2c_test_apps/main/test_i2c_common.c
index 91296a6eed..55d7064b86 100644
--- a/components/esp_driver_i2c/test_apps/i2c_test_apps/main/test_i2c_common.c
+++ b/components/esp_driver_i2c/test_apps/i2c_test_apps/main/test_i2c_common.c
@@ -19,7 +19,6 @@
 #include "esp_private/periph_ctrl.h"
 #include "driver/gpio.h"
 #include "driver/i2c_master.h"
-#include "esp_private/i2c_platform.h"
 #include "esp_rom_gpio.h"
 #include "esp_log.h"
 #include "test_utils.h"
diff --git a/docs/en/api-reference/peripherals/i2c.rst b/docs/en/api-reference/peripherals/i2c.rst
index 2fbbdfc4b7..7714f5e516 100644
--- a/docs/en/api-reference/peripherals/i2c.rst
+++ b/docs/en/api-reference/peripherals/i2c.rst
@@ -166,7 +166,6 @@ When the I2C master handle has been initialized in one module (e.g. the audio mo
     ESP_ERROR_CHECK(i2c_new_master_bus(&i2c_mst_config, &bus_handle));
 
     // Source File 2
-    #include "esp_private/i2c_platform.h"
     #include "driver/i2c_master.h"
     i2c_master_bus_handle_t handle;
     ESP_ERROR_CHECK(i2c_master_get_bus_handle(0, &handle));
diff --git a/docs/zh_CN/api-reference/peripherals/i2c.rst b/docs/zh_CN/api-reference/peripherals/i2c.rst
index f00095fdd8..392f3a7575 100644
--- a/docs/zh_CN/api-reference/peripherals/i2c.rst
+++ b/docs/zh_CN/api-reference/peripherals/i2c.rst
@@ -167,7 +167,6 @@ I2C 主机设备需要 :cpp:type:`i2c_device_config_t` 指定的配置：
     ESP_ERROR_CHECK(i2c_new_master_bus(&i2c_mst_config, &bus_handle));
 
     // 源文件 2
-    #include "esp_private/i2c_platform.h"
     #include "driver/i2c_master.h"
     i2c_master_bus_handle_t handle;
     ESP_ERROR_CHECK(i2c_master_get_bus_handle(0, &handle));