diff --git a/components/esp_driver_isp/include/esp_private/isp_private.h b/components/esp_driver_isp/include/esp_private/isp_private.h
index 34d3a0bdb7..a0e6913ca5 100644
--- a/components/esp_driver_isp/include/esp_private/isp_private.h
+++ b/components/esp_driver_isp/include/esp_private/isp_private.h
@@ -111,7 +111,6 @@ bool esp_isp_ae_isr(isp_proc_handle_t proc, uint32_t ae_events);
 bool esp_isp_awb_isr(isp_proc_handle_t proc, uint32_t awb_events);
 bool esp_isp_sharpen_isr(isp_proc_handle_t proc, uint32_t sharp_events);
 bool esp_isp_hist_isr(isp_proc_handle_t proc, uint32_t hist_events);
-esp_err_t esp_isp_enable_yuv_submodules(isp_proc_handle_t proc, bool en);
 
 #ifdef __cplusplus
 }
diff --git a/components/esp_driver_isp/src/isp_af.c b/components/esp_driver_isp/src/isp_af.c
index 2257103bb5..28c2055328 100644
--- a/components/esp_driver_isp/src/isp_af.c
+++ b/components/esp_driver_isp/src/isp_af.c
@@ -81,7 +81,6 @@ esp_err_t esp_isp_new_af_controller(isp_proc_handle_t isp_proc, const esp_isp_af
 {
     esp_err_t ret = ESP_FAIL;
     ESP_RETURN_ON_FALSE(isp_proc && af_config && ret_hdl, ESP_ERR_INVALID_ARG, TAG, "invalid argument: null pointer");
-    ESP_RETURN_ON_ERROR(esp_isp_enable_yuv_submodules(isp_proc, true), TAG, "failed to enable YUV submodules");
 
     bool rgb2yuv_en = isp_ll_is_rgb2yuv_enabled(isp_proc->hal.hw);
     bool demosaic_en = isp_ll_is_demosaic_enabled(isp_proc->hal.hw);
@@ -155,7 +154,6 @@ esp_err_t esp_isp_del_af_controller(isp_af_ctlr_t af_ctlr)
 
     // Deregister the AF ISR
     ESP_RETURN_ON_FALSE(esp_isp_deregister_isr(af_ctlr->isp_proc, ISP_SUBMODULE_AF) == ESP_OK, ESP_FAIL, TAG, "fail to deregister ISR");
-    ESP_RETURN_ON_ERROR(esp_isp_enable_yuv_submodules(af_ctlr->isp_proc, false), TAG, "failed to disable YUV submodules");
 
     s_isp_declaim_af_controller(af_ctlr);
     s_isp_af_free_controller(af_ctlr);
diff --git a/components/esp_driver_isp/src/isp_color.c b/components/esp_driver_isp/src/isp_color.c
index f2430d1eb8..09e118c626 100644
--- a/components/esp_driver_isp/src/isp_color.c
+++ b/components/esp_driver_isp/src/isp_color.c
@@ -49,7 +49,6 @@ esp_err_t esp_isp_color_enable(isp_proc_handle_t proc)
 {
     ESP_RETURN_ON_FALSE(proc, ESP_ERR_INVALID_ARG, TAG, "invalid argument: null pointer");
     ESP_RETURN_ON_FALSE(proc->color_fsm == ISP_FSM_INIT, ESP_ERR_INVALID_STATE, TAG, "color is enabled already");
-    ESP_RETURN_ON_ERROR(esp_isp_enable_yuv_submodules(proc, true), TAG, "failed to enable YUV submodules");
 
     isp_ll_color_clk_enable(proc->hal.hw, true);
     isp_ll_color_enable(proc->hal.hw, true);
@@ -62,7 +61,6 @@ esp_err_t esp_isp_color_disable(isp_proc_handle_t proc)
 {
     ESP_RETURN_ON_FALSE(proc, ESP_ERR_INVALID_ARG, TAG, "invalid argument: null pointer");
     ESP_RETURN_ON_FALSE(proc->color_fsm == ISP_FSM_ENABLE, ESP_ERR_INVALID_STATE, TAG, "color isn't enabled yet");
-    ESP_RETURN_ON_ERROR(esp_isp_enable_yuv_submodules(proc, false), TAG, "failed to disable YUV submodules");
 
     isp_ll_color_enable(proc->hal.hw, false);
     isp_ll_color_clk_enable(proc->hal.hw, false);
diff --git a/components/esp_driver_isp/src/isp_core.c b/components/esp_driver_isp/src/isp_core.c
index b39865ce29..89fe6d79f1 100644
--- a/components/esp_driver_isp/src/isp_core.c
+++ b/components/esp_driver_isp/src/isp_core.c
@@ -145,6 +145,10 @@ esp_err_t esp_isp_new_processor(const esp_isp_processor_cfg_t *proc_config, isp_
         isp_ll_yuv_set_range(proc->hal.hw, proc_config->yuv_range);
     }
 
+    if (out_color_format.color_space == COLOR_SPACE_RGB && proc_config->input_data_source == ISP_INPUT_DATA_SOURCE_DVP) {
+        isp_ll_color_enable(proc->hal.hw, true); // workaround for DIG-474
+    }
+
     proc->in_color_format = in_color_format;
     proc->out_color_format = out_color_format;
     proc->h_res = proc_config->h_res;
@@ -390,29 +394,3 @@ esp_err_t esp_isp_deregister_isr(isp_proc_handle_t proc, isp_submodule_t submodu
 
     return ESP_OK;
 }
-
-esp_err_t esp_isp_enable_yuv_submodules(isp_proc_handle_t proc, bool en)
-{
-    ESP_RETURN_ON_FALSE(proc, ESP_ERR_INVALID_ARG, TAG, "invalid argument: null pointer");
-
-    bool rgb2yuv = false;
-    bool yuv2rgb = false;
-
-    if (proc->out_color_format.color_space == COLOR_SPACE_RGB) {
-        rgb2yuv = true;
-        yuv2rgb = true;
-    } else if (proc->out_color_format.color_space == COLOR_SPACE_YUV) {
-        rgb2yuv = true;
-    }
-
-    portENTER_CRITICAL(&proc->spinlock);
-    if (rgb2yuv) {
-        isp_ll_enable_rgb2yuv(proc->hal.hw, en);
-    }
-    if (yuv2rgb) {
-        isp_ll_enable_yuv2rgb(proc->hal.hw, en);
-    }
-    portEXIT_CRITICAL(&proc->spinlock);
-
-    return ESP_OK;
-}
diff --git a/components/esp_driver_isp/src/isp_demosaic.c b/components/esp_driver_isp/src/isp_demosaic.c
index 8c2e0e3018..92a224caae 100644
--- a/components/esp_driver_isp/src/isp_demosaic.c
+++ b/components/esp_driver_isp/src/isp_demosaic.c
@@ -59,7 +59,10 @@ esp_err_t esp_isp_demosaic_disable(isp_proc_handle_t proc)
     ESP_RETURN_ON_FALSE(proc, ESP_ERR_INVALID_ARG, TAG, "invalid argument: null pointer");
     ESP_RETURN_ON_FALSE(proc->demosaic_fsm == ISP_FSM_ENABLE, ESP_ERR_INVALID_STATE, TAG, "demosaic isn't enabled yet");
 
-    isp_ll_demosaic_enable(proc->hal.hw, false);
+    if (proc->out_color_format.color_space == (uint32_t)COLOR_SPACE_RAW) {
+        // for other out_color_format, demosaic module is needed for rgb interpolation algorithm
+        isp_ll_demosaic_enable(proc->hal.hw, false);
+    }
     proc->demosaic_fsm = ISP_FSM_INIT;
 
     return ESP_OK;
diff --git a/components/esp_driver_isp/src/isp_sharpen.c b/components/esp_driver_isp/src/isp_sharpen.c
index 84722aa884..abd88956ce 100644
--- a/components/esp_driver_isp/src/isp_sharpen.c
+++ b/components/esp_driver_isp/src/isp_sharpen.c
@@ -51,7 +51,6 @@ esp_err_t esp_isp_sharpen_enable(isp_proc_handle_t proc)
 {
     ESP_RETURN_ON_FALSE(proc, ESP_ERR_INVALID_ARG, TAG, "invalid argument: null pointer");
     ESP_RETURN_ON_FALSE(proc->sharpen_fsm == ISP_FSM_INIT, ESP_ERR_INVALID_STATE, TAG, "sharpen is enabled already");
-    ESP_RETURN_ON_ERROR(esp_isp_enable_yuv_submodules(proc, true), TAG, "failed to enable YUV submodules");
 
     isp_ll_sharp_clk_enable(proc->hal.hw, true);
     isp_ll_enable_intr(proc->hal.hw, ISP_LL_EVENT_SHARP_FRAME, true);
@@ -65,7 +64,6 @@ esp_err_t esp_isp_sharpen_disable(isp_proc_handle_t proc)
 {
     ESP_RETURN_ON_FALSE(proc, ESP_ERR_INVALID_ARG, TAG, "invalid argument: null pointer");
     ESP_RETURN_ON_FALSE(proc->sharpen_fsm == ISP_FSM_ENABLE, ESP_ERR_INVALID_STATE, TAG, "sharpen isn't enabled yet");
-    ESP_RETURN_ON_ERROR(esp_isp_enable_yuv_submodules(proc, false), TAG, "failed to disable YUV submodules");
 
     isp_ll_sharp_enable(proc->hal.hw, false);
     isp_ll_enable_intr(proc->hal.hw, ISP_LL_EVENT_SHARP_FRAME, false);
diff --git a/components/hal/esp32p4/include/hal/isp_ll.h b/components/hal/esp32p4/include/hal/isp_ll.h
index 9eb827208d..00712b1256 100644
--- a/components/hal/esp32p4/include/hal/isp_ll.h
+++ b/components/hal/esp32p4/include/hal/isp_ll.h
@@ -396,15 +396,15 @@ static inline bool isp_ll_set_output_data_color_format(isp_dev_t *hw, color_spac
         case COLOR_PIXEL_RGB888:
             hw->cntl.isp_out_type = 2;
             hw->cntl.demosaic_en = 1;
-            hw->cntl.rgb2yuv_en = 0;
-            hw->cntl.yuv2rgb_en = 0;
+            hw->cntl.rgb2yuv_en = 1;
+            hw->cntl.yuv2rgb_en = 1;
             valid = true;
             break;
         case COLOR_PIXEL_RGB565:
             hw->cntl.isp_out_type = 4;
             hw->cntl.demosaic_en = 1;
-            hw->cntl.rgb2yuv_en = 0;
-            hw->cntl.yuv2rgb_en = 0;
+            hw->cntl.rgb2yuv_en = 1;
+            hw->cntl.yuv2rgb_en = 1;
             valid = true;
             break;
         default:
@@ -456,28 +456,6 @@ static inline void isp_ll_enable_line_end_packet_exist(isp_dev_t *hw, bool en)
     hw->frame_cfg.hsync_end_exist = en;
 }
 
-/**
- * @brief Enable rgb2yuv
- *
- * @param[in] hw  Hardware instance address
- * @param[in] en  Enable / Disable
- */
-static inline void isp_ll_enable_rgb2yuv(isp_dev_t *hw, bool en)
-{
-    hw->cntl.rgb2yuv_en = en;
-}
-
-/**
- * @brief Enable yuv2rgb
- *
- * @param[in] hw  Hardware instance address
- * @param[in] en  Enable / Disable
- */
-static inline void isp_ll_enable_yuv2rgb(isp_dev_t *hw, bool en)
-{
-    hw->cntl.yuv2rgb_en = en;
-}
-
 /**
  * @brief Get if demosaic is enabled
  *
diff --git a/docs/en/api-reference/peripherals/isp.rst b/docs/en/api-reference/peripherals/isp.rst
index cb50d2f85f..4e62491753 100644
--- a/docs/en/api-reference/peripherals/isp.rst
+++ b/docs/en/api-reference/peripherals/isp.rst
@@ -597,6 +597,10 @@ After calling :cpp:func:`esp_isp_color_configure`, you need to enable the ISP co
 
 Calling :cpp:func:`esp_isp_color_disable` does the opposite, that is, put the driver back to the **init** state.
 
+.. note::
+
+    When the ISP DVP peripheral is used with the output color format set to the RGB color space, :ref:`isp-color` is automatically enabled in the camera driver to ensure correct data output. The function :cpp:func:`esp_isp_color_disable` should never be called in this case, otherwise it may result in disarrayed camera data.
+
 .. _isp-ccm-config:
 
 Configure CCM
diff --git a/docs/zh_CN/api-reference/peripherals/isp.rst b/docs/zh_CN/api-reference/peripherals/isp.rst
index 0955634607..9f90290d83 100644
--- a/docs/zh_CN/api-reference/peripherals/isp.rst
+++ b/docs/zh_CN/api-reference/peripherals/isp.rst
@@ -597,6 +597,10 @@ ISP 色彩控制器
 
 调用 :cpp:func:`esp_isp_color_disable` 函数会执行相反的操作，即将驱动程序恢复到 **init** 状态。
 
+.. note::
+
+    当 ISP DVP 外设在使用且输出颜色格式设置为 RGB 色彩空间时，摄像头驱动程序会自动启用 :ref:`isp-color` 以确保数据输出正确。在这种情况下，禁止调用 :cpp:func:`esp_isp_color_disable` 函数，否则可能导致摄像头数据混乱。
+
 .. _isp-ccm-config:
 
 配置 CCM