diff --git a/tcl/board/esp32c3-builtin.cfg b/tcl/board/esp32c3-builtin.cfg
new file mode 100644
index 0000000000..9e19b1b93c
--- /dev/null
+++ b/tcl/board/esp32c3-builtin.cfg
@@ -0,0 +1,15 @@
+# SPDX-License-Identifier: GPL-2.0-or-later
+#
+# Example OpenOCD configuration file for ESP32-C3 connected via builtin USB-JTAG adapter.
+#
+# For example, OpenOCD can be started for ESP32-C3 debugging on
+#
+#   openocd -f board/esp32c3-builtin.cfg
+#
+
+# Source the JTAG interface configuration file
+source [find interface/esp_usb_jtag.cfg]
+# Source the ESP32-C3 configuration file
+source [find target/esp32c3.cfg]
+
+adapter speed 40000
diff --git a/tcl/board/esp32c6-builtin.cfg b/tcl/board/esp32c6-builtin.cfg
new file mode 100644
index 0000000000..abc96b2d14
--- /dev/null
+++ b/tcl/board/esp32c6-builtin.cfg
@@ -0,0 +1,15 @@
+# SPDX-License-Identifier: GPL-2.0-or-later
+#
+# Example OpenOCD configuration file for ESP32-C6 connected via builtin USB-JTAG adapter.
+#
+# For example, OpenOCD can be started for ESP32-C6 debugging on
+#
+#   openocd -f board/esp32c6-builtin.cfg
+#
+
+# Source the JTAG interface configuration file
+source [find interface/esp_usb_jtag.cfg]
+# Source the ESP32-C6 configuration file
+source [find target/esp32c6.cfg]
+
+adapter speed 40000
diff --git a/tcl/board/esp32h2-builtin.cfg b/tcl/board/esp32h2-builtin.cfg
new file mode 100644
index 0000000000..1ce596104a
--- /dev/null
+++ b/tcl/board/esp32h2-builtin.cfg
@@ -0,0 +1,15 @@
+# SPDX-License-Identifier: GPL-2.0-or-later
+#
+# Example OpenOCD configuration file for ESP32-C3 connected via builtin USB-JTAG adapter.
+#
+# For example, OpenOCD can be started for ESP32-C3 debugging on
+#
+#   openocd -f board/esp32c3-builtin.cfg
+#
+
+# Source the JTAG interface configuration file
+source [find interface/esp_usb_jtag.cfg]
+# Source the ESP32-C3 configuration file
+source [find target/esp32h2.cfg]
+
+adapter speed 40000