diff --git a/tcl/board/esp32s3-builtin.cfg b/tcl/board/esp32s3-builtin.cfg
new file mode 100644
index 000000000..353099c98
--- /dev/null
+++ b/tcl/board/esp32s3-builtin.cfg
@@ -0,0 +1,15 @@
+# SPDX-License-Identifier: GPL-2.0-or-later
+#
+# Example OpenOCD configuration file for ESP32-S3 connected via builtin USB-JTAG adapter.
+#
+# For example, OpenOCD can be started for ESP32-S3 debugging on
+#
+#   openocd -f board/esp32s3-builtin.cfg
+#
+
+# Source the JTAG interface configuration file
+source [find interface/esp_usb_jtag.cfg]
+# Source the ESP32-S3 configuration file
+source [find target/esp32s3.cfg]
+
+adapter speed 40000