diff --git a/tcl/board/esp32-bridge.cfg b/tcl/board/esp32-bridge.cfg
new file mode 100644
index 000000000..17146e59c
--- /dev/null
+++ b/tcl/board/esp32-bridge.cfg
@@ -0,0 +1,15 @@
+# SPDX-License-Identifier: GPL-2.0-or-later
+#
+# Example OpenOCD configuration file for ESP32 connected via ESP USB Bridge board
+#
+# For example, OpenOCD can be started for ESP32 debugging on
+#
+#   openocd -f board/esp32-bridge.cfg
+#
+
+# Source the JTAG interface configuration file
+source [find interface/esp_usb_bridge.cfg]
+# ESP32 chip id defined in the idf esp_chip_model_t
+espusbjtag chip_id 1
+# Source the ESP32 configuration file
+source [find target/esp32.cfg]