diff --git a/components/ulp/Kconfig b/components/ulp/Kconfig
index 5b8a7c5ce1..29b1e5ff00 100644
--- a/components/ulp/Kconfig
+++ b/components/ulp/Kconfig
@@ -80,4 +80,16 @@ menu "Ultra Low Power (ULP) Co-processor"
             Size of the shared memory defined in ulp_lp_core_memory_shared.c.
             Size should be kept in-sync with the size of the struct defined there.
 
+    config ULP_ROM_PRINT_ENABLE
+        depends on ULP_COPROC_TYPE_LP_CORE && ESP_ROM_HAS_LP_ROM
+        bool
+        prompt "Enable print utilities from LP ROM"
+        default "y"
+        help
+            Set this option to enable printf functionality from LP ROM. This option
+            can help reduce the LP core binary size by not linking printf functionality
+            from RAM code.
+            Note: For LP ROM prints to work properly, make sure that the LP core boots
+            from the LP ROM.
+
 endmenu  # Ultra Low Power (ULP) Co-processor
diff --git a/components/ulp/cmake/CMakeLists.txt b/components/ulp/cmake/CMakeLists.txt
index e396502853..d35f517966 100644
--- a/components/ulp/cmake/CMakeLists.txt
+++ b/components/ulp/cmake/CMakeLists.txt
@@ -54,6 +54,7 @@ target_link_options(${ULP_APP_NAME} PRIVATE SHELL:-T ${CMAKE_CURRENT_BINARY_DIR}
 
 # To avoid warning "Manually-specified variables were not used by the project"
 set(bypassWarning "${IDF_TARGET}")
+set(bypassWarning "${CONFIG_ESP_ROM_HAS_LP_ROM}")
 if(ULP_COCPU_IS_RISCV)
     #risc-v ulp uses extra files for building:
     list(APPEND ULP_S_SOURCES
diff --git a/components/ulp/lp_core/lp_core/include/ulp_lp_core_print.h b/components/ulp/lp_core/lp_core/include/ulp_lp_core_print.h
index 43a956b9be..4c0b214528 100644
--- a/components/ulp/lp_core/lp_core/include/ulp_lp_core_print.h
+++ b/components/ulp/lp_core/lp_core/include/ulp_lp_core_print.h
@@ -1,8 +1,9 @@
 /*
- * SPDX-FileCopyrightText: 2023 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2023-2024 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
+#include "sdkconfig.h"
 
 /**
  * @brief Print from the LP core
@@ -14,4 +15,21 @@
  * @param ...           variable argument list
  *
  */
+#if CONFIG_ULP_ROM_PRINT_ENABLE
+extern int ets_printf(const char* format, ...);
+int (*lp_core_printf)(const char* format, ...) = ets_printf;
+#else
+//TODO: Change return type from void to int in IDF 6.0
 void lp_core_printf(const char* format, ...);
+#endif /* CONFIG_ULP_ROM_PRINT_ENABLE */
+
+#if CONFIG_ULP_ROM_PRINT_ENABLE
+/**
+ * @brief Install LP ROM UART printf function as standard putc handler to enable prints
+ *
+ * @note This function must be called before printing anything when the LP core boots from LP ROM but does not install
+ *       putc handler. This is possible when the LP ROM is instructed so by setting bit#1 in the LP_SYSTEM_REG_LP_STORE9_REG register.
+ */
+extern void ets_install_uart_printf(void);
+void (*lp_core_install_uart_printf)(void) = ets_install_uart_printf;
+#endif /* CONFIG_ULP_ROM_PRINT_ENABLE */
diff --git a/components/ulp/lp_core/lp_core/lp_core_print.c b/components/ulp/lp_core/lp_core/lp_core_print.c
index d010f68328..785d59e6c4 100644
--- a/components/ulp/lp_core/lp_core/lp_core_print.c
+++ b/components/ulp/lp_core/lp_core/lp_core_print.c
@@ -6,6 +6,8 @@
 #include <stdarg.h>
 #include "ulp_lp_core_uart.h"
 
+#if !CONFIG_ULP_ROM_PRINT_ENABLE
+
 #define LP_UART_PORT_NUM LP_UART_NUM_0
 #define BINARY_SUPPORT 1
 
@@ -271,3 +273,5 @@ int lp_core_printf(const char* format, ...)
 
     return ret;
 }
+
+#endif /* !CONFIG_ULP_ROM_PRINT_ENABLE */
diff --git a/components/ulp/project_include.cmake b/components/ulp/project_include.cmake
index 47df252e01..b3e35dca96 100644
--- a/components/ulp/project_include.cmake
+++ b/components/ulp/project_include.cmake
@@ -49,6 +49,9 @@ function(ulp_embed_binary app_name s_sources exp_dep_srcs)
         elseif(CONFIG_ULP_COPROC_TYPE_LP_CORE)
                 set(TOOLCHAIN_FLAG ${idf_path}/components/ulp/cmake/toolchain-lp-core-riscv.cmake)
                 set(ULP_IS_LP_CORE_RISCV ON)
+                if(CONFIG_ESP_ROM_HAS_LP_ROM)
+                    set(CONFIG_ESP_ROM_HAS_LP_ROM ON)
+                endif()
         endif()
 
         externalproject_add(${app_name}
@@ -67,6 +70,7 @@ function(ulp_embed_binary app_name s_sources exp_dep_srcs)
                             -DPYTHON=${python}
                             -DULP_COCPU_IS_RISCV=${ULP_IS_RISCV}
                             -DULP_COCPU_IS_LP_CORE=${ULP_IS_LP_CORE_RISCV}
+                            -DCONFIG_ESP_ROM_HAS_LP_ROM=${CONFIG_ESP_ROM_HAS_LP_ROM}
                             ${extra_cmake_args}
                 BUILD_COMMAND ${CMAKE_COMMAND} --build ${CMAKE_CURRENT_BINARY_DIR}/${app_name} --target build
                 BUILD_BYPRODUCTS ${ulp_artifacts} ${ulp_artifacts_extras} ${ulp_ps_sources}