diff --git a/.github/workflows/compile-examples.yml b/.github/workflows/compile-examples.yml
index fd46862..829514d 100644
--- a/.github/workflows/compile-examples.yml
+++ b/.github/workflows/compile-examples.yml
@@ -71,6 +71,10 @@ jobs:
             platforms: |
               - name: arduino:mbed_nano
             artifact-name-suffix: arduino-mbed_nano-nanorp2040connect
+          - fqbn: arduino:esp32:nano_nora
+            platforms: |
+              - name: arduino:esp32
+            artifact-name-suffix: arduino-esp32-nano_nora
 
     steps:
       - name: Checkout repository
diff --git a/src/Servo.h b/src/Servo.h
index 47365d8..ed6f56a 100644
--- a/src/Servo.h
+++ b/src/Servo.h
@@ -77,8 +77,10 @@
 #include "renesas/ServoTimers.h"
 #elif defined(ARDUINO_ARCH_XMC)
 #include "xmc/ServoTimers.h"
+#elif defined(ARDUINO_ARCH_ESP32)
+#include "esp32/ServoTimers.h"
 #else
-#error "This library only supports boards with an AVR, SAM, SAMD, NRF52, STM32F4, Renesas or XMC processor."
+#error "This library only supports boards with an AVR, SAM, SAMD, NRF52, STM32F4, Renesas, XMC or ESP32 processor."
 #endif
 
 #define Servo_VERSION           2     // software version of this library
diff --git a/src/esp32/Servo.cpp b/src/esp32/Servo.cpp
new file mode 100644
index 0000000..043908a
--- /dev/null
+++ b/src/esp32/Servo.cpp
@@ -0,0 +1,146 @@
+#if defined(ARDUINO_ARCH_ESP32)
+
+#include <Arduino.h>
+#include <Servo.h>
+
+#if defined __has_include
+#  if __has_include ("pinDefinitions.h")
+#    include "pinDefinitions.h"
+#  endif
+#endif
+
+/*
+ * This group/channel/timmer mapping is for information only;
+ * the details are handled by lower-level code
+ *
+ * LEDC Chan to Group/Channel/Timer Mapping
+ ** ledc: 0  => Group: 0, Channel: 0, Timer: 0
+ ** ledc: 1  => Group: 0, Channel: 1, Timer: 0
+ ** ledc: 2  => Group: 0, Channel: 2, Timer: 1
+ ** ledc: 3  => Group: 0, Channel: 3, Timer: 1
+ ** ledc: 4  => Group: 0, Channel: 4, Timer: 2
+ ** ledc: 5  => Group: 0, Channel: 5, Timer: 2
+ ** ledc: 6  => Group: 0, Channel: 6, Timer: 3
+ ** ledc: 7  => Group: 0, Channel: 7, Timer: 3
+ ** ledc: 8  => Group: 1, Channel: 0, Timer: 0
+ ** ledc: 9  => Group: 1, Channel: 1, Timer: 0
+ ** ledc: 10 => Group: 1, Channel: 2, Timer: 1
+ ** ledc: 11 => Group: 1, Channel: 3, Timer: 1
+ ** ledc: 12 => Group: 1, Channel: 4, Timer: 2
+ ** ledc: 13 => Group: 1, Channel: 5, Timer: 2
+ ** ledc: 14 => Group: 1, Channel: 6, Timer: 3
+ ** ledc: 15 => Group: 1, Channel: 7, Timer: 3
+ */
+
+class ServoImpl {
+  uint8_t pin;
+
+public:
+    ServoImpl(const uint8_t _pin, const uint8_t _channel) : pin(_pin) {
+      // Setup timer
+      ledcSetup(_channel, (1000000 / REFRESH_INTERVAL), LEDC_MAX_BIT_WIDTH);
+
+      // Attach timer to a LED pin
+      ledcAttachPin(pin, _channel);
+    }
+
+    ~ServoImpl() {
+      ledcDetachPin(pin);
+    }
+
+    void set(const uint8_t _channel, const uint32_t duration_us) {
+      ledcWrite(_channel, LEDC_US_TO_TICKS(duration_us));
+    }
+
+    uint32_t get(const uint8_t _channel) const {
+      return LEDC_TICKS_TO_US(ledcRead(_channel));
+    }
+};
+
+static ServoImpl* servos[MAX_PWM_SERVOS] = {nullptr};      // static array of servo structures
+uint8_t ServoCount = 0;                                    // the total number of attached servos
+
+#define SERVO_MIN() (MIN_PULSE_WIDTH - this->min)   // minimum value in us for this servo
+#define SERVO_MAX() (MAX_PULSE_WIDTH - this->max)   // maximum value in us for this servo
+
+Servo::Servo()
+{
+  if (ServoCount < MAX_PWM_SERVOS) {
+    this->servoIndex = ServoCount++;
+  } else {
+    this->servoIndex = INVALID_SERVO;  // too many servos
+  }
+}
+
+uint8_t Servo::attach(int pin)
+{
+  return this->attach(pin, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH);
+}
+
+uint8_t Servo::attach(int pin, int min, int max)
+{
+  servos[this->servoIndex] = new ServoImpl(pin, this->servoIndex);
+
+  this->min  = (MIN_PULSE_WIDTH - min);
+  this->max  = (MAX_PULSE_WIDTH - max);
+  return this->servoIndex;
+}
+
+void Servo::detach()
+{
+  delete servos[this->servoIndex];
+  servos[this->servoIndex] = NULL;
+}
+
+void Servo::write(int value)
+{
+  // treat values less than 544 as angles in degrees (valid values in microseconds are handled as microseconds)
+  if (value < MIN_PULSE_WIDTH)
+  {
+    if (value < 0)
+      value = 0;
+    else if (value > 180)
+      value = 180;
+
+    value = map(value, 0, 180, SERVO_MIN(), SERVO_MAX());
+  }
+  writeMicroseconds(value);
+}
+
+void Servo::writeMicroseconds(int value)
+{
+  if (!servos[this->servoIndex]) {
+    return;
+  }
+  // calculate and store the values for the given channel
+  byte channel = this->servoIndex;
+  if( (channel < MAX_PWM_SERVOS) )   // ensure channel is valid
+  {
+    if (value < SERVO_MIN())          // ensure pulse width is valid
+      value = SERVO_MIN();
+    else if (value > SERVO_MAX())
+      value = SERVO_MAX();
+
+    servos[this->servoIndex]->set(this->servoIndex, value);
+  }
+}
+
+int Servo::read() // return the value as degrees
+{
+  return map(readMicroseconds(), SERVO_MIN(), SERVO_MAX(), 0, 180);
+}
+
+int Servo::readMicroseconds()
+{
+  if (!servos[this->servoIndex]) {
+    return 0;
+  }
+  return servos[this->servoIndex]->get(this->servoIndex);
+}
+
+bool Servo::attached()
+{
+  return servos[this->servoIndex] != NULL;
+}
+
+#endif
diff --git a/src/esp32/ServoTimers.h b/src/esp32/ServoTimers.h
new file mode 100644
index 0000000..25e8561
--- /dev/null
+++ b/src/esp32/ServoTimers.h
@@ -0,0 +1,8 @@
+#define MAX_PWM_SERVOS             16
+
+#define LEDC_MAX_BIT_WIDTH      SOC_LEDC_TIMER_BIT_WIDE_NUM
+
+constexpr uint32_t BIT_RESOLUTION = (1 << LEDC_MAX_BIT_WIDTH) - 1;
+
+#define LEDC_US_TO_TICKS(us)    static_cast<uint32_t>((us * BIT_RESOLUTION) / REFRESH_INTERVAL)
+#define LEDC_TICKS_TO_US(ticks) static_cast<uint32_t>((ticks * REFRESH_INTERVAL) / BIT_RESOLUTION)
\ No newline at end of file