diff --git a/config/esp32/components/chip/Kconfig b/config/esp32/components/chip/Kconfig
index 3c099437ad9813..bbe36e77c001e5 100644
--- a/config/esp32/components/chip/Kconfig
+++ b/config/esp32/components/chip/Kconfig
@@ -310,8 +310,8 @@ menu "CHIP Device Layer"
             help
                 Enables or Disables ICD server
 
-        config ICD_SLOW_POLL_INTERVAL
-            int "ICD Slow Polling Interval"
+        config ICD_SLOW_POLL_INTERVAL_MS
+            int "ICD Slow Polling Interval(ms)"
             depends on ENABLE_ICD_SERVER
             default 5000
             help
@@ -319,8 +319,8 @@ menu "CHIP Device Layer"
                 messages in Idle Mode. The Slow Polling interval MAY be the same as the Idle Mode
                 Interval.
 
-        config ICD_FAST_POLL_INTERVAL
-            int "ICD Fast Polling Interval"
+        config ICD_FAST_POLL_INTERVAL_MS
+            int "ICD Fast Polling Interval(ms)"
             depends on ENABLE_ICD_SERVER
             default 200
             help
@@ -328,6 +328,38 @@ menu "CHIP Device Layer"
                 in Active Mode. The Fast Polling interval SHALL be smaller than the Active Mode
                 Interval.
 
+        config ICD_IDLE_MODE_INTERVAL_SEC
+            int "ICD Idle Mode Interval(sec)"
+            depends on ENABLE_ICD_SERVER
+            default 2
+            help
+                This value indicates the maximum interval in seconds the server can stay in idle
+                mode.
+
+        config ICD_ACTIVE_MODE_INTERVAL_MS
+            int "ICD Active Mode Interval(ms)"
+            depends on ENABLE_ICD_SERVER
+            default 300
+            help
+                This value indicates the minimum interval in milliseconds the server can stay in
+                active mode.
+
+        config ICD_ACTIVE_MODE_THRESHOLD_MS
+            int "ICD Active Mode Threshold(ms)"
+            depends on ENABLE_ICD_SERVER
+            default 300
+            help
+                This value indicates the minimum amount of time in milliseconds the server typically
+                will stay active after network activity when in active mode.
+
+        config ICD_CLIENTS_SUPPORTED_PER_FABRIC
+            int "ICD Clients Number Supported Per Fabric"
+            depends on ENABLE_ICD_SERVER
+            default 1
+            help
+                This value indicates the maximum number of entries that the ICD server is able to store
+                for each fabric in the RegisteredClients attribute.
+
         config ENABLE_BG_EVENT_PROCESSING
             bool "Enable Background event processing"
             default n
diff --git a/config/esp32/components/chip/idf_component.yml b/config/esp32/components/chip/idf_component.yml
index 9b888d269c166e..f4b130c7402af5 100644
--- a/config/esp32/components/chip/idf_component.yml
+++ b/config/esp32/components/chip/idf_component.yml
@@ -24,3 +24,4 @@ dependencies:
         # Issue: https://github.com/project-chip/connectedhomeip/issues/29125
         rules:
             - if: "idf_version >=5.0"
+            - if: "target != esp32h2"
diff --git a/src/platform/ESP32/CHIPDevicePlatformConfig.h b/src/platform/ESP32/CHIPDevicePlatformConfig.h
index f7d59b60197bde..ba583b64c8fa0b 100644
--- a/src/platform/ESP32/CHIPDevicePlatformConfig.h
+++ b/src/platform/ESP32/CHIPDevicePlatformConfig.h
@@ -74,8 +74,8 @@
 #endif // CONFIG_IDF_TARGET_ESP32H2
 
 #if CONFIG_ENABLE_ICD_SERVER
-#define CHIP_DEVICE_CONFIG_ICD_SLOW_POLL_INTERVAL chip::System::Clock::Milliseconds32(CONFIG_ICD_SLOW_POLL_INTERVAL)
-#define CHIP_DEVICE_CONFIG_ICD_FAST_POLL_INTERVAL chip::System::Clock::Milliseconds32(CONFIG_ICD_FAST_POLL_INTERVAL)
+#define CHIP_DEVICE_CONFIG_ICD_SLOW_POLL_INTERVAL chip::System::Clock::Milliseconds32(CONFIG_ICD_SLOW_POLL_INTERVAL_MS)
+#define CHIP_DEVICE_CONFIG_ICD_FAST_POLL_INTERVAL chip::System::Clock::Milliseconds32(CONFIG_ICD_FAST_POLL_INTERVAL_MS)
 #endif // CHIP_CONFIG_ENABLE_ICD_SERVER
 
 #define CHIP_DEVICE_CONFIG_ENABLE_CHIPOBLE CONFIG_ENABLE_CHIPOBLE
diff --git a/src/platform/ESP32/CHIPPlatformConfig.h b/src/platform/ESP32/CHIPPlatformConfig.h
index a01ead49544a20..26101757787d08 100644
--- a/src/platform/ESP32/CHIPPlatformConfig.h
+++ b/src/platform/ESP32/CHIPPlatformConfig.h
@@ -75,3 +75,23 @@
 #else
 #define CHIP_DEVICE_CONFIG_ENABLE_WIFI_AP 0
 #endif
+
+#if CONFIG_ENABLE_ICD_SERVER
+
+#ifndef CHIP_CONFIG_ICD_IDLE_MODE_INTERVAL_SEC
+#define CHIP_CONFIG_ICD_IDLE_MODE_INTERVAL_SEC CONFIG_ICD_IDLE_MODE_INTERVAL_SEC
+#endif // CHIP_CONFIG_ICD_IDLE_MODE_INTERVAL_SEC
+
+#ifndef CHIP_CONFIG_ICD_ACTIVE_MODE_INTERVAL_MS
+#define CHIP_CONFIG_ICD_ACTIVE_MODE_INTERVAL_MS CONFIG_ICD_ACTIVE_MODE_INTERVAL_MS
+#endif // CHIP_CONFIG_ICD_ACTIVE_MODE_INTERVAL_MS
+
+#ifndef CHIP_CONFIG_ICD_ACTIVE_MODE_THRESHOLD_MS
+#define CHIP_CONFIG_ICD_ACTIVE_MODE_THRESHOLD_MS CONFIG_ICD_ACTIVE_MODE_THRESHOLD_MS
+#endif // CHIP_CONFIG_ICD_ACTIVE_MODE_THRESHOLD_MS
+
+#ifndef CHIP_CONFIG_ICD_CLIENTS_SUPPORTED_PER_FABRIC
+#define CHIP_CONFIG_ICD_CLIENTS_SUPPORTED_PER_FABRIC CONFIG_ICD_CLIENTS_SUPPORTED_PER_FABRIC
+#endif // CHIP_CONFIG_ICD_CLIENTS_SUPPORTED_PER_FABRIC
+
+#endif // CONFIG_ENABLE_ICD_SERVER