diff --git a/components/esp_driver_pcnt/src/pulse_cnt.c b/components/esp_driver_pcnt/src/pulse_cnt.c
index 0f1148e9fd..6be76876c1 100644
--- a/components/esp_driver_pcnt/src/pulse_cnt.c
+++ b/components/esp_driver_pcnt/src/pulse_cnt.c
@@ -28,6 +28,7 @@
 #include "hal/gpio_hal.h"
 #include "esp_private/esp_clk.h"
 #include "esp_private/periph_ctrl.h"
+#include "esp_private/sleep_retention.h"
 #include "driver/gpio.h"
 #include "esp_private/gpio.h"
 #include "hal/gpio_ll.h" // for io_loop_back flag only
@@ -65,6 +66,13 @@ typedef struct pcnt_group_t pcnt_group_t;
 typedef struct pcnt_unit_t pcnt_unit_t;
 typedef struct pcnt_chan_t pcnt_chan_t;
 
+// Use retention link only when the target supports sleep retention
+#define PCNT_USE_RETENTION_LINK  (SOC_PCNT_SUPPORT_SLEEP_RETENTION && CONFIG_PM_POWER_DOWN_PERIPHERAL_IN_LIGHT_SLEEP)
+
+#if PCNT_USE_RETENTION_LINK
+static esp_err_t pcnt_create_sleep_retention_link_cb(void *arg);
+#endif
+
 struct pcnt_platform_t {
     _lock_t mutex;                         // platform level mutex lock
     pcnt_group_t *groups[SOC_PCNT_GROUPS]; // pcnt group pool
@@ -864,6 +872,23 @@ static pcnt_group_t *pcnt_acquire_group_handle(int group_id)
                 pcnt_ll_enable_bus_clock(group_id, true);
                 pcnt_ll_reset_register(group_id);
             }
+#if PCNT_USE_RETENTION_LINK
+            sleep_retention_module_t module_id = pcnt_reg_retention_info[group_id].retention_module;
+            sleep_retention_module_init_param_t init_param = {
+                .cbs = {
+                    .create = {
+                        .handle = pcnt_create_sleep_retention_link_cb,
+                        .arg = group,
+                    },
+                },
+                .depends = SLEEP_RETENTION_MODULE_BM_CLOCK_SYSTEM
+            };
+            // we only do retention init here. Allocate retention module in the unit initialization
+            if (sleep_retention_module_init(module_id, &init_param) != ESP_OK) {
+                // even though the sleep retention module init failed, PCNT driver should still work, so just warning here
+                ESP_LOGW(TAG, "init sleep retention failed %d, power domain may be turned off during sleep", group_id);
+            }
+#endif // PCNT_USE_RETENTION_LINK
             // initialize HAL context
             pcnt_hal_init(&group->hal, group_id);
         }
@@ -901,6 +926,12 @@ static void pcnt_release_group_handle(pcnt_group_t *group)
     _lock_release(&s_platform.mutex);
 
     if (do_deinitialize) {
+#if PCNT_USE_RETENTION_LINK
+        const periph_retention_module_t module_id = pcnt_reg_retention_info[group_id].retention_module;
+        if (sleep_retention_get_inited_modules() & BIT(module_id)) {
+            sleep_retention_module_deinit(module_id);
+        }
+#endif // PCNT_USE_RETENTION_LINK
         free(group);
         ESP_LOGD(TAG, "del group (%d)", group_id);
     }
@@ -998,3 +1029,17 @@ IRAM_ATTR static void pcnt_default_isr(void *args)
         portYIELD_FROM_ISR();
     }
 }
+
+#if PCNT_USE_RETENTION_LINK
+static esp_err_t pcnt_create_sleep_retention_link_cb(void *arg)
+{
+    pcnt_group_t *group = (pcnt_group_t *)arg;
+    int group_id = group->group_id;
+    sleep_retention_module_t module_id = pcnt_reg_retention_info[group_id].retention_module;
+    esp_err_t err = sleep_retention_entries_create(pcnt_reg_retention_info[group_id].regdma_entry_array,
+                                                   pcnt_reg_retention_info[group_id].array_size,
+                                                   REGDMA_LINK_PRI_PCNT, module_id);
+    ESP_RETURN_ON_ERROR(err, TAG, "create retention link failed");
+    return ESP_OK;
+}
+#endif // PCNT_USE_RETENTION_LINK
diff --git a/components/esp_driver_pcnt/test_apps/pulse_cnt/main/CMakeLists.txt b/components/esp_driver_pcnt/test_apps/pulse_cnt/main/CMakeLists.txt
index 67bb690c46..78a5ea7d4e 100644
--- a/components/esp_driver_pcnt/test_apps/pulse_cnt/main/CMakeLists.txt
+++ b/components/esp_driver_pcnt/test_apps/pulse_cnt/main/CMakeLists.txt
@@ -6,6 +6,11 @@ if(CONFIG_PCNT_ISR_IRAM_SAFE)
     list(APPEND srcs "test_pulse_cnt_iram.c")
 endif()
 
+# TODO: IDF-9907 support ESP32P4
+if(CONFIG_SOC_LIGHT_SLEEP_SUPPORTED AND CONFIG_PM_ENABLE AND !CONFIG_IDF_TARGET_ESP32P4)
+    list(APPEND srcs "test_pulse_cnt_sleep.c")
+endif()
+
 # In order for the cases defined by `TEST_CASE` to be linked into the final elf,
 # the component can be registered as WHOLE_ARCHIVE
 idf_component_register(SRCS ${srcs}
diff --git a/components/esp_driver_pcnt/test_apps/pulse_cnt/main/test_pulse_cnt_sleep.c b/components/esp_driver_pcnt/test_apps/pulse_cnt/main/test_pulse_cnt_sleep.c
new file mode 100644
index 0000000000..2df0e0b9c0
--- /dev/null
+++ b/components/esp_driver_pcnt/test_apps/pulse_cnt/main/test_pulse_cnt_sleep.c
@@ -0,0 +1,141 @@
+/*
+ * SPDX-FileCopyrightText: 2022-2024 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include <stdio.h>
+#include "sdkconfig.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "freertos/semphr.h"
+#include "unity.h"
+#include "unity_test_utils.h"
+#include "driver/pulse_cnt.h"
+#include "driver/gpio.h"
+#include "spi_flash_mmap.h"
+#include "esp_attr.h"
+#include "esp_sleep.h"
+#include "soc/soc_caps.h"
+#include "soc/pcnt_struct.h"
+#include "hal/pcnt_ll.h"
+#include "test_pulse_cnt_board.h"
+#include "esp_private/sleep_cpu.h"
+#include "esp_private/esp_sleep_internal.h"
+#include "esp_private/esp_pmu.h"
+
+/**
+ * @brief Test the PCNT driver can still work after light sleep
+ */
+static void test_pcnt_sleep_retention()
+{
+    test_gpio_init_for_simulation(TEST_PCNT_GPIO_A);
+    test_gpio_init_for_simulation(TEST_PCNT_GPIO_B);
+
+    printf("install pcnt units\r\n");
+    pcnt_unit_config_t unit_config = {
+        .low_limit = -100,
+        .high_limit = 100,
+    };
+    pcnt_unit_handle_t units[2];
+    for (int i = 0; i < 2; i++) {
+        TEST_ESP_OK(pcnt_new_unit(&unit_config, &units[i]));
+    }
+
+    printf("install pcnt channels\r\n");
+    const int channel_gpios[] = {TEST_PCNT_GPIO_A, TEST_PCNT_GPIO_B};
+    pcnt_chan_config_t chan_config = {
+        .level_gpio_num = -1,
+    };
+    pcnt_channel_handle_t chans[2];
+    for (int i = 0; i < 2; i++) {
+        chan_config.edge_gpio_num = channel_gpios[i];
+        TEST_ESP_OK(pcnt_new_channel(units[i], &chan_config, &chans[i]));
+        TEST_ESP_OK(pcnt_channel_set_edge_action(chans[i], PCNT_CHANNEL_EDGE_ACTION_INCREASE, PCNT_CHANNEL_EDGE_ACTION_HOLD));
+        TEST_ESP_OK(pcnt_channel_set_level_action(chans[i], PCNT_CHANNEL_LEVEL_ACTION_KEEP, PCNT_CHANNEL_LEVEL_ACTION_KEEP));
+    }
+
+    printf("enable and start unit\r\n");
+    for (int i = 0; i < 2; i++) {
+        TEST_ESP_OK(pcnt_unit_enable(units[i]));
+        TEST_ESP_OK(pcnt_unit_start(units[i]));
+    }
+
+    // trigger 10 rising edge on GPIO
+    test_gpio_simulate_rising_edge(TEST_PCNT_GPIO_A, 10);
+    test_gpio_simulate_rising_edge(TEST_PCNT_GPIO_B, 10);
+
+    int count_value = 0;
+    for (int i = 0; i < 2; i++) {
+        TEST_ESP_OK(pcnt_unit_get_count(units[i], &count_value));
+        TEST_ASSERT_EQUAL(10, count_value);
+    }
+
+    // hold GPIO to avoid trigger PCNT counter during GPIO power down
+    gpio_hold_en(TEST_PCNT_GPIO_A);
+    gpio_hold_en(TEST_PCNT_GPIO_B);
+
+    printf("stop and disable unit before sleep\r\n");
+    for (int i = 0; i < 2; i++) {
+        TEST_ESP_OK(pcnt_unit_stop(units[i]));
+        TEST_ESP_OK(pcnt_unit_disable(units[i]));
+    }
+
+    // go to sleep
+    esp_sleep_context_t sleep_ctx;
+    esp_sleep_set_sleep_context(&sleep_ctx);
+    printf("go to light sleep for 1 seconds\r\n");
+#if ESP_SLEEP_POWER_DOWN_CPU
+    TEST_ESP_OK(sleep_cpu_configure(true));
+#endif
+    TEST_ESP_OK(esp_sleep_enable_timer_wakeup(1 * 1000 * 1000));
+    TEST_ESP_OK(esp_light_sleep_start());
+
+    printf("Waked up! Let's see if PCNT driver can still work...\r\n");
+#if ESP_SLEEP_POWER_DOWN_CPU
+    TEST_ESP_OK(sleep_cpu_configure(false));
+#endif
+
+    printf("check if the sleep happened as expected\r\n");
+    TEST_ASSERT_EQUAL(0, sleep_ctx.sleep_request_result);
+#if SOC_PCNT_SUPPORT_SLEEP_RETENTION
+    // check if the power domain also is powered down
+    TEST_ASSERT_EQUAL(0, (sleep_ctx.sleep_flags) & PMU_SLEEP_PD_TOP);
+#endif
+    esp_sleep_set_sleep_context(NULL);
+
+    gpio_hold_dis(TEST_PCNT_GPIO_A);
+    gpio_hold_dis(TEST_PCNT_GPIO_B);
+
+    printf("enable and start unit after sleep\r\n");
+    for (int i = 0; i < 2; i++) {
+        TEST_ESP_OK(pcnt_unit_enable(units[i]));
+        TEST_ESP_OK(pcnt_unit_start(units[i]));
+    }
+
+    // Verify the counter still holds the value
+    test_gpio_simulate_rising_edge(TEST_PCNT_GPIO_A, 10);
+    test_gpio_simulate_rising_edge(TEST_PCNT_GPIO_B, 10);
+
+    int reg_value = 0;
+    for (int i = 0; i < 2; i++) {
+        // check the counter value (include accum value and register value)
+        TEST_ESP_OK(pcnt_unit_get_count(units[i], &count_value));
+        TEST_ASSERT_EQUAL(20, count_value);
+        // check the register value
+        reg_value = pcnt_ll_get_count(&PCNT, i);
+        TEST_ASSERT_EQUAL(20, reg_value);
+    }
+
+    for (int i = 0; i < 2; i++) {
+        TEST_ESP_OK(pcnt_unit_stop(units[i]));
+        TEST_ESP_OK(pcnt_unit_disable(units[i]));
+        TEST_ESP_OK(pcnt_del_channel(chans[i]));
+        TEST_ESP_OK(pcnt_del_unit(units[i]));
+    }
+}
+
+TEST_CASE("pcnt light sleep", "[pcnt]")
+{
+    test_pcnt_sleep_retention();
+}
diff --git a/components/esp_driver_pcnt/test_apps/pulse_cnt/sdkconfig.ci.release b/components/esp_driver_pcnt/test_apps/pulse_cnt/sdkconfig.ci.release
index 91d93f163e..17aaee1e8e 100644
--- a/components/esp_driver_pcnt/test_apps/pulse_cnt/sdkconfig.ci.release
+++ b/components/esp_driver_pcnt/test_apps/pulse_cnt/sdkconfig.ci.release
@@ -1,5 +1,6 @@
 CONFIG_PM_ENABLE=y
 CONFIG_FREERTOS_USE_TICKLESS_IDLE=y
+CONFIG_PM_POWER_DOWN_PERIPHERAL_IN_LIGHT_SLEEP=y
 CONFIG_COMPILER_OPTIMIZATION_SIZE=y
 CONFIG_BOOTLOADER_COMPILER_OPTIMIZATION_SIZE=y
 CONFIG_COMPILER_OPTIMIZATION_ASSERTIONS_SILENT=y
diff --git a/components/esp_driver_pcnt/test_apps/pulse_cnt/sdkconfig.defaults b/components/esp_driver_pcnt/test_apps/pulse_cnt/sdkconfig.defaults
index fa8ac618b9..488ad46859 100644
--- a/components/esp_driver_pcnt/test_apps/pulse_cnt/sdkconfig.defaults
+++ b/components/esp_driver_pcnt/test_apps/pulse_cnt/sdkconfig.defaults
@@ -1,2 +1,5 @@
 CONFIG_FREERTOS_HZ=1000
 CONFIG_ESP_TASK_WDT_EN=n
+
+# primitives for checking sleep internal state
+CONFIG_ESP_SLEEP_DEBUG=y
diff --git a/components/soc/esp32c5/include/soc/Kconfig.soc_caps.in b/components/soc/esp32c5/include/soc/Kconfig.soc_caps.in
index 70fab9c675..e1ceec5368 100644
--- a/components/soc/esp32c5/include/soc/Kconfig.soc_caps.in
+++ b/components/soc/esp32c5/include/soc/Kconfig.soc_caps.in
@@ -767,6 +767,10 @@ config SOC_PCNT_SUPPORT_STEP_NOTIFY
     bool
     default y
 
+config SOC_PCNT_SUPPORT_SLEEP_RETENTION
+    bool
+    default y
+
 config SOC_RMT_GROUPS
     int
     default 1
diff --git a/components/soc/esp32c5/include/soc/retention_periph_defs.h b/components/soc/esp32c5/include/soc/retention_periph_defs.h
index f65bfde521..28f99fdbc4 100644
--- a/components/soc/esp32c5/include/soc/retention_periph_defs.h
+++ b/components/soc/esp32c5/include/soc/retention_periph_defs.h
@@ -42,6 +42,7 @@ typedef enum periph_retention_module {
     SLEEP_RETENTION_MODULE_PARLIO0      = 19,
     SLEEP_RETENTION_MODULE_GPSPI2       = 20,
     SLEEP_RETENTION_MODULE_LEDC         = 21,
+    SLEEP_RETENTION_MODULE_PCNT0        = 22,
 
     /* modem module, which includes WiFi, BLE and 802.15.4 */
     SLEEP_RETENTION_MODULE_WIFI_MAC     = 26,
@@ -86,6 +87,7 @@ typedef enum periph_retention_module_bitmap {
     SLEEP_RETENTION_MODULE_BM_PARLIO0      = BIT(SLEEP_RETENTION_MODULE_PARLIO0),
     SLEEP_RETENTION_MODULE_BM_GPSPI2       = BIT(SLEEP_RETENTION_MODULE_GPSPI2),
     SLEEP_RETENTION_MODULE_BM_LEDC         = BIT(SLEEP_RETENTION_MODULE_LEDC),
+    SLEEP_RETENTION_MODULE_BM_PCNT0        = BIT(SLEEP_RETENTION_MODULE_PCNT0),
 
     SLEEP_RETENTION_MODULE_BM_GDMA_CH0     = BIT(SLEEP_RETENTION_MODULE_GDMA_CH0),
     SLEEP_RETENTION_MODULE_BM_GDMA_CH1     = BIT(SLEEP_RETENTION_MODULE_GDMA_CH1),
@@ -112,6 +114,7 @@ typedef enum periph_retention_module_bitmap {
                                   | SLEEP_RETENTION_MODULE_BM_PARLIO0     \
                                   | SLEEP_RETENTION_MODULE_BM_GPSPI2      \
                                   | SLEEP_RETENTION_MODULE_BM_LEDC        \
+                                  | SLEEP_RETENTION_MODULE_BM_PCNT0       \
                                   )
 #ifdef __cplusplus
 }
diff --git a/components/soc/esp32c5/include/soc/soc_caps.h b/components/soc/esp32c5/include/soc/soc_caps.h
index 7eb49628ea..584cac7d54 100644
--- a/components/soc/esp32c5/include/soc/soc_caps.h
+++ b/components/soc/esp32c5/include/soc/soc_caps.h
@@ -322,6 +322,7 @@
 #define SOC_PCNT_SUPPORT_RUNTIME_THRES_UPDATE 1
 #define SOC_PCNT_SUPPORT_CLEAR_SIGNAL         1
 #define SOC_PCNT_SUPPORT_STEP_NOTIFY          1
+#define SOC_PCNT_SUPPORT_SLEEP_RETENTION      1  /*!< The sleep retention feature can help back up PCNT registers before sleep */
 
 /*--------------------------- RMT CAPS ---------------------------------------*/
 #define SOC_RMT_GROUPS                        1U /*!< One RMT group */
diff --git a/components/soc/esp32c5/pcnt_periph.c b/components/soc/esp32c5/pcnt_periph.c
index 162db5aa27..c96644dae1 100644
--- a/components/soc/esp32c5/pcnt_periph.c
+++ b/components/soc/esp32c5/pcnt_periph.c
@@ -6,6 +6,7 @@
 
 #include "soc/pcnt_periph.h"
 #include "soc/gpio_sig_map.h"
+#include "soc/pcnt_reg.h"
 
 const pcnt_signal_conn_t pcnt_periph_signals = {
     .groups = {
@@ -68,3 +69,31 @@ const pcnt_signal_conn_t pcnt_periph_signals = {
         }
     }
 };
+
+/**
+ * PCNT Registers to be saved during sleep retention
+ * - Configuration registers, e.g.: PCNT_CTRL_REG, PCNT_U0_CONF0_REG, PCNT_U0_CONF1_REG, PCNT_U0_CONF2_REG, PCNT_U1_CONF0_REG...
+ * - Step Configuration registers, e.g.: PCNT_U0_CHANGE_CONF_REG, PCNT_U1_CHANGE_CONF_REG, PCNT_U2_CHANGE_CONF_REG, PCNT_U3_CHANGE_CONF_REG
+ * - Interrupt enable registers, e.g.: PCNT_INT_ENA_REG
+*/
+#define PCNT_RETENTION_REGS_CNT 18
+#define PCNT_RETENTION_REGS_BASE (DR_REG_PCNT_BASE + 0x0)
+static const uint32_t pcnt_regs_map[4] = {0x1f040fff, 0x0, 0x0, 0x0};
+static const regdma_entries_config_t pcnt_regs_retention[] = {
+    // backup stage: save configuration registers
+    // restore stage: restore the configuration registers
+    [0] = { .config = REGDMA_LINK_ADDR_MAP_INIT(REGDMA_PCNT_LINK(0x00), \
+                                               PCNT_RETENTION_REGS_BASE, PCNT_RETENTION_REGS_BASE, \
+                                               PCNT_RETENTION_REGS_CNT, 0, 0, \
+                                               pcnt_regs_map[0], pcnt_regs_map[1], \
+                                               pcnt_regs_map[2], pcnt_regs_map[3]), \
+                                               .owner = ENTRY(0) | ENTRY(2) }, \
+};
+
+const pcnt_reg_retention_info_t pcnt_reg_retention_info[SOC_PCNT_GROUPS] = {
+    [0] = {
+        .regdma_entry_array = pcnt_regs_retention,
+        .array_size = ARRAY_SIZE(pcnt_regs_retention),
+        .retention_module = SLEEP_RETENTION_MODULE_PCNT0
+    },
+};
diff --git a/components/soc/esp32c6/include/soc/Kconfig.soc_caps.in b/components/soc/esp32c6/include/soc/Kconfig.soc_caps.in
index 84c3cd72b3..a7626d57a7 100644
--- a/components/soc/esp32c6/include/soc/Kconfig.soc_caps.in
+++ b/components/soc/esp32c6/include/soc/Kconfig.soc_caps.in
@@ -779,6 +779,10 @@ config SOC_PCNT_SUPPORT_RUNTIME_THRES_UPDATE
     bool
     default y
 
+config SOC_PCNT_SUPPORT_SLEEP_RETENTION
+    bool
+    default y
+
 config SOC_RMT_GROUPS
     int
     default 1
diff --git a/components/soc/esp32c6/include/soc/retention_periph_defs.h b/components/soc/esp32c6/include/soc/retention_periph_defs.h
index 2b1854eced..6b82875353 100644
--- a/components/soc/esp32c6/include/soc/retention_periph_defs.h
+++ b/components/soc/esp32c6/include/soc/retention_periph_defs.h
@@ -44,6 +44,7 @@ typedef enum periph_retention_module {
     SLEEP_RETENTION_MODULE_PARLIO0      = 21,
     SLEEP_RETENTION_MODULE_GPSPI2       = 22,
     SLEEP_RETENTION_MODULE_LEDC         = 23,
+    SLEEP_RETENTION_MODULE_PCNT0        = 24,
 
     /* Modem module, which includes WiFi, BLE and 802.15.4 */
     SLEEP_RETENTION_MODULE_WIFI_MAC     = 26,
@@ -84,6 +85,7 @@ typedef enum periph_retention_module_bitmap {
     SLEEP_RETENTION_MODULE_BM_PARLIO0      = BIT(SLEEP_RETENTION_MODULE_PARLIO0),
     SLEEP_RETENTION_MODULE_BM_GPSPI2       = BIT(SLEEP_RETENTION_MODULE_GPSPI2),
     SLEEP_RETENTION_MODULE_BM_LEDC         = BIT(SLEEP_RETENTION_MODULE_LEDC),
+    SLEEP_RETENTION_MODULE_BM_PCNT0        = BIT(SLEEP_RETENTION_MODULE_PCNT0),
     /* modem module, which includes WiFi, BLE and 802.15.4 */
     SLEEP_RETENTION_MODULE_BM_WIFI_MAC     = BIT(SLEEP_RETENTION_MODULE_WIFI_MAC),
     SLEEP_RETENTION_MODULE_BM_WIFI_BB      = BIT(SLEEP_RETENTION_MODULE_WIFI_BB),
@@ -114,6 +116,7 @@ typedef enum periph_retention_module_bitmap {
                                   | SLEEP_RETENTION_MODULE_BM_PARLIO0     \
                                   | SLEEP_RETENTION_MODULE_BM_GPSPI2      \
                                   | SLEEP_RETENTION_MODULE_BM_LEDC        \
+                                  | SLEEP_RETENTION_MODULE_BM_PCNT0       \
                                   )
 
 #ifdef __cplusplus
diff --git a/components/soc/esp32c6/include/soc/soc_caps.h b/components/soc/esp32c6/include/soc/soc_caps.h
index 948c1cd0f6..0750f12c3f 100644
--- a/components/soc/esp32c6/include/soc/soc_caps.h
+++ b/components/soc/esp32c6/include/soc/soc_caps.h
@@ -308,6 +308,7 @@
 #define SOC_PCNT_CHANNELS_PER_UNIT            2
 #define SOC_PCNT_THRES_POINT_PER_UNIT         2
 #define SOC_PCNT_SUPPORT_RUNTIME_THRES_UPDATE 1
+#define SOC_PCNT_SUPPORT_SLEEP_RETENTION      1  /*!< The sleep retention feature can help back up PCNT registers before sleep */
 
 /*--------------------------- RMT CAPS ---------------------------------------*/
 #define SOC_RMT_GROUPS                        1U /*!< One RMT group */
diff --git a/components/soc/esp32c6/pcnt_periph.c b/components/soc/esp32c6/pcnt_periph.c
index b2b440245b..14c52fc0d6 100644
--- a/components/soc/esp32c6/pcnt_periph.c
+++ b/components/soc/esp32c6/pcnt_periph.c
@@ -1,11 +1,12 @@
 /*
- * SPDX-FileCopyrightText: 2020-2022 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2020-2024 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
 
 #include "soc/pcnt_periph.h"
 #include "soc/gpio_sig_map.h"
+#include "soc/pcnt_reg.h"
 
 const pcnt_signal_conn_t pcnt_periph_signals = {
     .groups = {
@@ -64,3 +65,30 @@ const pcnt_signal_conn_t pcnt_periph_signals = {
         }
     }
 };
+
+/**
+ * PCNT Registers to be saved during sleep retention
+ * - Configuration registers, e.g.: PCNT_CTRL_REG, PCNT_U0_CONF0_REG, PCNT_U0_CONF1_REG, PCNT_U0_CONF2_REG, PCNT_U1_CONF0_REG...
+ * - Interrupt enable registers, e.g.: PCNT_INT_ENA_REG
+*/
+#define PCNT_RETENTION_REGS_CNT 14
+#define PCNT_RETENTION_REGS_BASE (DR_REG_PCNT_BASE + 0x0)
+static const uint32_t pcnt_regs_map[4] = {0x1040fff, 0x0, 0x0, 0x0};
+static const regdma_entries_config_t pcnt_regs_retention[] = {
+    // backup stage: save configuration registers
+    // restore stage: restore the configuration registers
+    [0] = { .config = REGDMA_LINK_ADDR_MAP_INIT(REGDMA_PCNT_LINK(0x00), \
+                                               PCNT_RETENTION_REGS_BASE, PCNT_RETENTION_REGS_BASE, \
+                                               PCNT_RETENTION_REGS_CNT, 0, 0, \
+                                               pcnt_regs_map[0], pcnt_regs_map[1], \
+                                               pcnt_regs_map[2], pcnt_regs_map[3]), \
+                                               .owner = ENTRY(0) | ENTRY(2) }, \
+};
+
+const pcnt_reg_retention_info_t pcnt_reg_retention_info[SOC_PCNT_GROUPS] = {
+    [0] = {
+        .regdma_entry_array = pcnt_regs_retention,
+        .array_size = ARRAY_SIZE(pcnt_regs_retention),
+        .retention_module = SLEEP_RETENTION_MODULE_PCNT0
+    },
+};
diff --git a/components/soc/esp32h2/include/soc/Kconfig.soc_caps.in b/components/soc/esp32h2/include/soc/Kconfig.soc_caps.in
index 72bfb1fa09..f655023a99 100644
--- a/components/soc/esp32h2/include/soc/Kconfig.soc_caps.in
+++ b/components/soc/esp32h2/include/soc/Kconfig.soc_caps.in
@@ -763,6 +763,10 @@ config SOC_PCNT_SUPPORT_RUNTIME_THRES_UPDATE
     bool
     default y
 
+config SOC_PCNT_SUPPORT_SLEEP_RETENTION
+    bool
+    default y
+
 config SOC_RMT_GROUPS
     int
     default 1
diff --git a/components/soc/esp32h2/include/soc/retention_periph_defs.h b/components/soc/esp32h2/include/soc/retention_periph_defs.h
index 766db48639..c22b47fb59 100644
--- a/components/soc/esp32h2/include/soc/retention_periph_defs.h
+++ b/components/soc/esp32h2/include/soc/retention_periph_defs.h
@@ -44,6 +44,7 @@ typedef enum periph_retention_module {
     SLEEP_RETENTION_MODULE_PARLIO0      = 21,
     SLEEP_RETENTION_MODULE_GPSPI2       = 22,
     SLEEP_RETENTION_MODULE_LEDC         = 23,
+    SLEEP_RETENTION_MODULE_PCNT0        = 24,
 
     /* Modem module, which includes BLE and 802.15.4 */
     SLEEP_RETENTION_MODULE_BLE_MAC      = 28,
@@ -82,6 +83,7 @@ typedef enum periph_retention_module_bitmap {
     SLEEP_RETENTION_MODULE_BM_PARLIO0      = BIT(SLEEP_RETENTION_MODULE_PARLIO0),
     SLEEP_RETENTION_MODULE_BM_GPSPI2       = BIT(SLEEP_RETENTION_MODULE_GPSPI2),
     SLEEP_RETENTION_MODULE_BM_LEDC         = BIT(SLEEP_RETENTION_MODULE_LEDC),
+    SLEEP_RETENTION_MODULE_BM_PCNT0        = BIT(SLEEP_RETENTION_MODULE_PCNT0),
     /* modem module, which includes BLE and 802.15.4 */
     SLEEP_RETENTION_MODULE_BM_BLE_MAC      = BIT(SLEEP_RETENTION_MODULE_BLE_MAC),
     SLEEP_RETENTION_MODULE_BM_BT_BB        = BIT(SLEEP_RETENTION_MODULE_BT_BB),
@@ -110,6 +112,7 @@ typedef enum periph_retention_module_bitmap {
                                   | SLEEP_RETENTION_MODULE_BM_PARLIO0     \
                                   | SLEEP_RETENTION_MODULE_BM_GPSPI2      \
                                   | SLEEP_RETENTION_MODULE_BM_LEDC        \
+                                  | SLEEP_RETENTION_MODULE_BM_PCNT0       \
                                   )
 
 #ifdef __cplusplus
diff --git a/components/soc/esp32h2/include/soc/soc_caps.h b/components/soc/esp32h2/include/soc/soc_caps.h
index 416f110682..26252ef134 100644
--- a/components/soc/esp32h2/include/soc/soc_caps.h
+++ b/components/soc/esp32h2/include/soc/soc_caps.h
@@ -302,6 +302,7 @@
 #define SOC_PCNT_CHANNELS_PER_UNIT            2
 #define SOC_PCNT_THRES_POINT_PER_UNIT         2
 #define SOC_PCNT_SUPPORT_RUNTIME_THRES_UPDATE 1
+#define SOC_PCNT_SUPPORT_SLEEP_RETENTION      1  /*!< The sleep retention feature can help back up PCNT registers before sleep */
 
 /*--------------------------- RMT CAPS ---------------------------------------*/
 #define SOC_RMT_GROUPS                        1U /*!< One RMT group */
diff --git a/components/soc/esp32h2/pcnt_periph.c b/components/soc/esp32h2/pcnt_periph.c
index b2b440245b..14c52fc0d6 100644
--- a/components/soc/esp32h2/pcnt_periph.c
+++ b/components/soc/esp32h2/pcnt_periph.c
@@ -1,11 +1,12 @@
 /*
- * SPDX-FileCopyrightText: 2020-2022 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2020-2024 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
 
 #include "soc/pcnt_periph.h"
 #include "soc/gpio_sig_map.h"
+#include "soc/pcnt_reg.h"
 
 const pcnt_signal_conn_t pcnt_periph_signals = {
     .groups = {
@@ -64,3 +65,30 @@ const pcnt_signal_conn_t pcnt_periph_signals = {
         }
     }
 };
+
+/**
+ * PCNT Registers to be saved during sleep retention
+ * - Configuration registers, e.g.: PCNT_CTRL_REG, PCNT_U0_CONF0_REG, PCNT_U0_CONF1_REG, PCNT_U0_CONF2_REG, PCNT_U1_CONF0_REG...
+ * - Interrupt enable registers, e.g.: PCNT_INT_ENA_REG
+*/
+#define PCNT_RETENTION_REGS_CNT 14
+#define PCNT_RETENTION_REGS_BASE (DR_REG_PCNT_BASE + 0x0)
+static const uint32_t pcnt_regs_map[4] = {0x1040fff, 0x0, 0x0, 0x0};
+static const regdma_entries_config_t pcnt_regs_retention[] = {
+    // backup stage: save configuration registers
+    // restore stage: restore the configuration registers
+    [0] = { .config = REGDMA_LINK_ADDR_MAP_INIT(REGDMA_PCNT_LINK(0x00), \
+                                               PCNT_RETENTION_REGS_BASE, PCNT_RETENTION_REGS_BASE, \
+                                               PCNT_RETENTION_REGS_CNT, 0, 0, \
+                                               pcnt_regs_map[0], pcnt_regs_map[1], \
+                                               pcnt_regs_map[2], pcnt_regs_map[3]), \
+                                               .owner = ENTRY(0) | ENTRY(2) }, \
+};
+
+const pcnt_reg_retention_info_t pcnt_reg_retention_info[SOC_PCNT_GROUPS] = {
+    [0] = {
+        .regdma_entry_array = pcnt_regs_retention,
+        .array_size = ARRAY_SIZE(pcnt_regs_retention),
+        .retention_module = SLEEP_RETENTION_MODULE_PCNT0
+    },
+};
diff --git a/components/soc/esp32p4/include/soc/soc_caps.h b/components/soc/esp32p4/include/soc/soc_caps.h
index 754ba90846..ee00d3083d 100644
--- a/components/soc/esp32p4/include/soc/soc_caps.h
+++ b/components/soc/esp32p4/include/soc/soc_caps.h
@@ -408,6 +408,7 @@
 #define SOC_PCNT_THRES_POINT_PER_UNIT         2
 #define SOC_PCNT_SUPPORT_RUNTIME_THRES_UPDATE 1
 #define SOC_PCNT_SUPPORT_CLEAR_SIGNAL         1  /*!< Support clear signal input */
+// #define SOC_PCNT_SUPPORT_SLEEP_RETENTION      1  // TODO: IDF-9907 Waiting for expansion of module ID /*!< The sleep retention feature can help back up PCNT registers before sleep */
 
 /*--------------------------- RMT CAPS ---------------------------------------*/
 #define SOC_RMT_GROUPS                        1U /*!< One RMT group */
diff --git a/components/soc/esp32p4/pcnt_periph.c b/components/soc/esp32p4/pcnt_periph.c
index ae7d32b2fe..4b1cbcac5c 100644
--- a/components/soc/esp32p4/pcnt_periph.c
+++ b/components/soc/esp32p4/pcnt_periph.c
@@ -1,11 +1,12 @@
 /*
- * SPDX-FileCopyrightText: 2020-2023 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2020-2024 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
 
 #include "soc/pcnt_periph.h"
 #include "soc/gpio_sig_map.h"
+#include "soc/pcnt_reg.h"
 
 const pcnt_signal_conn_t pcnt_periph_signals = {
     .groups = {
@@ -68,3 +69,33 @@ const pcnt_signal_conn_t pcnt_periph_signals = {
         }
     }
 };
+
+#if SOC_PCNT_SUPPORT_SLEEP_RETENTION
+/**
+ * PCNT Registers to be saved during sleep retention
+ * - Configuration registers, e.g.: PCNT_CTRL_REG, PCNT_U0_CONF0_REG, PCNT_U0_CONF1_REG, PCNT_U0_CONF2_REG, PCNT_U1_CONF0_REG...
+ * - Step Configuration registers, e.g.: PCNT_U0_CHANGE_CONF_REG, PCNT_U1_CHANGE_CONF_REG, PCNT_U2_CHANGE_CONF_REG, PCNT_U3_CHANGE_CONF_REG
+ * - Interrupt enable registers, e.g.: PCNT_INT_ENA_REG
+*/
+#define PCNT_RETENTION_REGS_CNT 18
+#define PCNT_RETENTION_REGS_BASE (DR_REG_PCNT_BASE + 0x0)
+static const uint32_t pcnt_regs_map[4] = {0x1f040fff, 0x0, 0x0, 0x0};
+static const regdma_entries_config_t pcnt_regs_retention[] = {
+    // backup stage: save configuration registers
+    // restore stage: restore the configuration registers
+    [0] = { .config = REGDMA_LINK_ADDR_MAP_INIT(REGDMA_PCNT_LINK(0x00), \
+                                               PCNT_RETENTION_REGS_BASE, PCNT_RETENTION_REGS_BASE, \
+                                               PCNT_RETENTION_REGS_CNT, 0, 0, \
+                                               pcnt_regs_map[0], pcnt_regs_map[1], \
+                                               pcnt_regs_map[2], pcnt_regs_map[3]), \
+                                               .owner = ENTRY(0)}, \
+};
+
+const pcnt_reg_retention_info_t pcnt_reg_retention_info[SOC_PCNT_GROUPS] = {
+    [0] = {
+        .regdma_entry_array = pcnt_regs_retention,
+        .array_size = ARRAY_SIZE(pcnt_regs_retention),
+        .retention_module = SLEEP_RETENTION_MODULE_PCNT0
+    },
+};
+#endif // SOC_PCNT_SUPPORT_SLEEP_RETENTION
diff --git a/components/soc/include/soc/pcnt_periph.h b/components/soc/include/soc/pcnt_periph.h
index e7d8818b09..a060af597f 100644
--- a/components/soc/include/soc/pcnt_periph.h
+++ b/components/soc/include/soc/pcnt_periph.h
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2019-2022 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2019-2024 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -9,6 +9,10 @@
 #include <stdint.h>
 #include "soc/soc_caps.h"
 #include "soc/periph_defs.h"
+#include "soc/regdma.h"
+#if SOC_PCNT_SUPPORT_SLEEP_RETENTION
+#include "soc/retention_periph_defs.h"
+#endif
 
 #ifdef __cplusplus
 extern "C" {
@@ -31,6 +35,16 @@ typedef struct {
 
 extern const pcnt_signal_conn_t pcnt_periph_signals;
 
+#if SOC_PCNT_SUPPORT_SLEEP_RETENTION
+typedef struct {
+    const periph_retention_module_t retention_module;
+    const regdma_entries_config_t *regdma_entry_array;
+    uint32_t array_size;
+} pcnt_reg_retention_info_t;
+
+extern const pcnt_reg_retention_info_t pcnt_reg_retention_info[SOC_PCNT_GROUPS];
+#endif // SOC_PCNT_SUPPORT_SLEEP_RETENTION
+
 #endif // SOC_PCNT_SUPPORTED
 
 #ifdef __cplusplus
diff --git a/components/soc/include/soc/regdma.h b/components/soc/include/soc/regdma.h
index 44a116119f..7ee06f0095 100644
--- a/components/soc/include/soc/regdma.h
+++ b/components/soc/include/soc/regdma.h
@@ -60,6 +60,7 @@ extern "C" {
 #define REGDMA_PARLIO_LINK(_pri)            ((0x22 << 8) | _pri)
 #define REGDMA_GPSPI_LINK(_pri)             ((0x23 << 8) | _pri)
 #define REGDMA_LEDC_LINK(_pri)              ((0x24 << 8) | _pri)
+#define REGDMA_PCNT_LINK(_pri)              ((0x25 << 8) | _pri)
 #define REGDMA_MODEM_FE_LINK(_pri)          ((0xFF << 8) | _pri)
 
 #define REGDMA_LINK_PRI_SYS_CLK                 REGDMA_LINK_PRI_0
@@ -79,6 +80,7 @@ extern "C" {
 #define REGDMA_LINK_PRI_I2C                     REGDMA_LINK_PRI_GENERAL_PERIPH
 #define REGDMA_LINK_PRI_I2S                     REGDMA_LINK_PRI_GENERAL_PERIPH
 #define REGDMA_LINK_PRI_PARLIO                  REGDMA_LINK_PRI_GENERAL_PERIPH
+#define REGDMA_LINK_PRI_PCNT                    REGDMA_LINK_PRI_GENERAL_PERIPH
 #define REGDMA_LINK_PRI_UART                    REGDMA_LINK_PRI_GENERAL_PERIPH
 #define REGDMA_LINK_PRI_TEMPERATURE_SENSOR      REGDMA_LINK_PRI_GENERAL_PERIPH
 #define REGDMA_LINK_PRI_TWAI                    REGDMA_LINK_PRI_GENERAL_PERIPH