diff --git a/components/mbedtls/CMakeLists.txt b/components/mbedtls/CMakeLists.txt
index 6791015b81..ea1003c4d3 100644
--- a/components/mbedtls/CMakeLists.txt
+++ b/components/mbedtls/CMakeLists.txt
@@ -333,7 +333,16 @@ if(CONFIG_ESP_TLS_USE_DS_PERIPHERAL)
     set_property(TARGET mbedcrypto APPEND PROPERTY LINK_INTERFACE_MULTIPLICITY 6)
 endif()
 
-# Link esp-cryptoauthlib to mbedtls
+# Additional optional dependencies for the mbedcrypto library
+function(mbedcrypto_optional_deps component_name)
+    idf_build_get_property(components BUILD_COMPONENTS)
+    if(${component_name} IN_LIST components)
+        idf_component_get_property(lib_name ${component_name} COMPONENT_LIB)
+        target_link_libraries(mbedcrypto PRIVATE ${lib_name})
+    endif()
+endfunction()
+
+# Link esp-cryptoauthlib to mbedcrypto
 if(CONFIG_ATCA_MBEDTLS_ECDSA)
-    idf_component_optional_requires(PRIVATE espressif__esp-cryptoauthlib esp-cryptoauthlib)
+    mbedcrypto_optional_deps(espressif__esp-cryptoauthlib esp-cryptoauthlib)
 endif()