diff --git a/components/esp_driver_gpio/test_apps/gpio_extensions/main/test_gpio_filter.c b/components/esp_driver_gpio/test_apps/gpio_extensions/main/test_gpio_filter.c
index a55c626d7d..6826cd15db 100644
--- a/components/esp_driver_gpio/test_apps/gpio_extensions/main/test_gpio_filter.c
+++ b/components/esp_driver_gpio/test_apps/gpio_extensions/main/test_gpio_filter.c
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2022-2023 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2022-2024 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -14,6 +14,12 @@
 #include "driver/dedic_gpio.h"
 #include "soc/soc_caps.h"
 
+#if CONFIG_IDF_TARGET_ESP32P4
+#define TEST_FILTER_GPIO 20
+#else
+#define TEST_FILTER_GPIO 2
+#endif
+
 #if SOC_GPIO_SUPPORT_PIN_GLITCH_FILTER
 
 TEST_CASE("GPIO pin glitch filter life cycle", "[gpio_filter]")
@@ -108,7 +114,7 @@ NOINLINE_ATTR IRAM_ATTR static void test_gpio_simulate_glitch_pulse(void)
 
 TEST_CASE("GPIO flex glitch filter enable/disable", "[gpio_filter]")
 {
-    const gpio_num_t test_gpio = 2;
+    const gpio_num_t test_gpio = TEST_FILTER_GPIO;
 
     printf("initialize GPIO for input and out\r\n");
     gpio_config_t gpio_cfg = {
diff --git a/components/esp_driver_gpio/test_apps/gpio_extensions/pytest_gpio_extensions.py b/components/esp_driver_gpio/test_apps/gpio_extensions/pytest_gpio_extensions.py
index edda8257a7..fa4bf41bab 100644
--- a/components/esp_driver_gpio/test_apps/gpio_extensions/pytest_gpio_extensions.py
+++ b/components/esp_driver_gpio/test_apps/gpio_extensions/pytest_gpio_extensions.py
@@ -1,6 +1,5 @@
 # SPDX-FileCopyrightText: 2022-2023 Espressif Systems (Shanghai) CO LTD
 # SPDX-License-Identifier: CC0-1.0
-
 import pytest
 from pytest_embedded_idf import IdfDut
 
@@ -16,6 +15,7 @@ CONFIGS = [
 @pytest.mark.esp32h2
 @pytest.mark.esp32s2
 @pytest.mark.esp32s3
+@pytest.mark.esp32p4
 @pytest.mark.generic
 @pytest.mark.parametrize('config', CONFIGS, indirect=True)
 def test_gpio_filter(dut: IdfDut) -> None:
diff --git a/components/hal/esp32p4/include/hal/gpio_glitch_filter_ll.h b/components/hal/esp32p4/include/hal/gpio_glitch_filter_ll.h
new file mode 100644
index 0000000000..8799ec6d3f
--- /dev/null
+++ b/components/hal/esp32p4/include/hal/gpio_glitch_filter_ll.h
@@ -0,0 +1,60 @@
+/*
+ * SPDX-FileCopyrightText: 2023-2024 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#pragma once
+
+#include <stdbool.h>
+#include "hal/assert.h"
+#include "soc/gpio_ext_struct.h"
+
+#define GPIO_LL_GLITCH_FILTER_MAX_WINDOW  64
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @brief Enable GPIO glitch filter
+ *
+ * @param hw Glitch filter register base address
+ * @param filter_idx Glitch filter index
+ * @param enable True to enable, false to disable
+ */
+static inline void gpio_ll_glitch_filter_enable(gpio_glitch_filter_dev_t *hw, uint32_t filter_idx, bool enable)
+{
+    hw->glitch_filter_chn[filter_idx].filter_chn_en = enable;
+}
+
+/**
+ * @brief Set the input GPIO for the glitch filter
+ *
+ * @param hw Glitch filter register base address
+ * @param filter_idx Glitch filter index
+ * @param gpio_num GPIO number
+ */
+static inline void gpio_ll_glitch_filter_set_gpio(gpio_glitch_filter_dev_t *hw, uint32_t filter_idx, uint32_t gpio_num)
+{
+    hw->glitch_filter_chn[filter_idx].filter_chn_input_io_num = gpio_num;
+}
+
+/**
+ * @brief Set the coefficient of the glitch filter window
+ *
+ * @param hw Glitch filter register base address
+ * @param filter_idx Glitch filter index
+ * @param window_width Window width, in IOMUX clock ticks
+ * @param window_threshold Window threshold, in IOMUX clock ticks
+ */
+static inline void gpio_ll_glitch_filter_set_window_coeff(gpio_glitch_filter_dev_t *hw, uint32_t filter_idx, uint32_t window_width, uint32_t window_thres)
+{
+    HAL_ASSERT(window_thres <= window_width);
+    hw->glitch_filter_chn[filter_idx].filter_chn_window_width = window_width - 1;
+    hw->glitch_filter_chn[filter_idx].filter_chn_window_thres = window_thres - 1;
+}
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/components/soc/esp32p4/include/soc/Kconfig.soc_caps.in b/components/soc/esp32p4/include/soc/Kconfig.soc_caps.in
index a710dd2c2d..5fbdac97ad 100644
--- a/components/soc/esp32p4/include/soc/Kconfig.soc_caps.in
+++ b/components/soc/esp32p4/include/soc/Kconfig.soc_caps.in
@@ -467,6 +467,14 @@ config SOC_GPIO_PIN_COUNT
     int
     default 55
 
+config SOC_GPIO_SUPPORT_PIN_GLITCH_FILTER
+    bool
+    default y
+
+config SOC_GPIO_FLEX_GLITCH_FILTER_NUM
+    int
+    default 8
+
 config SOC_GPIO_SUPPORT_PIN_HYS_FILTER
     bool
     default y
diff --git a/components/soc/esp32p4/include/soc/clk_tree_defs.h b/components/soc/esp32p4/include/soc/clk_tree_defs.h
index 3157a0ace3..26fb9a0f82 100644
--- a/components/soc/esp32p4/include/soc/clk_tree_defs.h
+++ b/components/soc/esp32p4/include/soc/clk_tree_defs.h
@@ -249,8 +249,6 @@ typedef enum {
     RMT_BASECLK_DEFAULT = SOC_MOD_CLK_PLL_F80M,  /*!< RMT source clock default choice is PLL_F80M */
 } soc_periph_rmt_clk_src_legacy_t;
 
-//////////////////////////////////////////////////Temp Sensor///////////////////////////////////////////////////////////
-
 ///////////////////////////////////////////////////UART/////////////////////////////////////////////////////////////////
 
 /**
@@ -509,6 +507,21 @@ typedef enum {
 
 //////////////////////////////////////////////////GPIO Glitch Filter////////////////////////////////////////////////////
 
+/**
+ * @brief Array initializer for all supported clock sources of Glitch Filter
+ */
+#define SOC_GLITCH_FILTER_CLKS {SOC_MOD_CLK_PLL_F80M, SOC_MOD_CLK_XTAL}
+
+/**
+ * @brief Glitch filter clock source
+ */
+
+typedef enum {
+    GLITCH_FILTER_CLK_SRC_XTAL = SOC_MOD_CLK_XTAL,         /*!< Select XTAL clock as the source clock */
+    GLITCH_FILTER_CLK_SRC_PLL_F80M = SOC_MOD_CLK_PLL_F80M, /*!< Select PLL_F80M clock as the source clock */
+    GLITCH_FILTER_CLK_SRC_DEFAULT = SOC_MOD_CLK_PLL_F80M,  /*!< Select PLL_F80M clock as the default clock choice */
+} soc_periph_glitch_filter_clk_src_t;
+
 ///////////////////////////////////////////////////Analog Comparator////////////////////////////////////////////////////
 
 /**
diff --git a/components/soc/esp32p4/include/soc/soc_caps.h b/components/soc/esp32p4/include/soc/soc_caps.h
index 4d670d1207..10693883a5 100644
--- a/components/soc/esp32p4/include/soc/soc_caps.h
+++ b/components/soc/esp32p4/include/soc/soc_caps.h
@@ -200,8 +200,8 @@
 // ESP32-P4 has 1 GPIO peripheral
 #define SOC_GPIO_PORT                      1U
 #define SOC_GPIO_PIN_COUNT                 55
-// #define SOC_GPIO_SUPPORT_PIN_GLITCH_FILTER 1  //TODO: IDF-7481
-// #define SOC_GPIO_FLEX_GLITCH_FILTER_NUM    8  //TODO: IDF-7481
+#define SOC_GPIO_SUPPORT_PIN_GLITCH_FILTER 1
+#define SOC_GPIO_FLEX_GLITCH_FILTER_NUM    8
 #define SOC_GPIO_SUPPORT_PIN_HYS_FILTER    1
 
 // GPIO peripheral has the ETM extension