diff --git a/boards/xtensa/esp32s3/common/Kconfig b/boards/xtensa/esp32s3/common/Kconfig
index 97c7c69bd0..47c74d0432 100644
--- a/boards/xtensa/esp32s3/common/Kconfig
+++ b/boards/xtensa/esp32s3/common/Kconfig
@@ -12,6 +12,13 @@ config ESP32S3_MERGE_BINS
 		This is only useful when the path to binary files (e.g. bootloader)
 		is provided via the ESPTOOL_BINDIR variable.
 
+config ESP32S3_QEMU_IMAGE
+	bool "ESP32S3 binary image for QEMU"
+	default n
+	select ESP32S3_MERGE_BINS
+	---help---
+		Create a binary flash image used for QEMU.
+
 config ESP32S3_SPEED_UP_ISR
 	bool "Speed up ISR"
 	default n
diff --git a/tools/esp32s3/Config.mk b/tools/esp32s3/Config.mk
index 3ca37ea260..8b44cace29 100644
--- a/tools/esp32s3/Config.mk
+++ b/tools/esp32s3/Config.mk
@@ -127,7 +127,13 @@ define MERGEBIN
 		echo "Missing Flash memory size configuration for the ESP32-S3 chip."; \
 		exit 1; \
 	fi
-	esptool.py -c esp32s3 merge_bin --output nuttx.merged.bin $(ESPTOOL_FLASH_OPTS) $(ESPTOOL_BINS)
+	$(eval ESPTOOL_MERGEBIN_OPTS :=                                              \
+		$(if $(CONFIG_ESP32S3_QEMU_IMAGE),                                         \
+			--fill-flash-size $(FLASH_SIZE) -fm $(FLASH_MODE) -ff $(FLASH_FREQ), \
+			$(ESPTOOL_FLASH_OPTS)                                                \
+		)                                                                        \
+	)
+	esptool.py -c esp32s3 merge_bin --output nuttx.merged.bin $(ESPTOOL_MERGEBIN_OPTS) $(ESPTOOL_BINS)
 	$(Q) echo nuttx.merged.bin >> nuttx.manifest
 	$(Q) echo "Generated: nuttx.merged.bin"
 endef