diff --git a/wolfcrypt/src/port/Espressif/esp32_sha.c b/wolfcrypt/src/port/Espressif/esp32_sha.c
index 474a0c5718f..3f07c1da322 100644
--- a/wolfcrypt/src/port/Espressif/esp32_sha.c
+++ b/wolfcrypt/src/port/Espressif/esp32_sha.c
@@ -55,6 +55,9 @@
 
     #include <hal/sha_ll.h>
     #include <hal/clk_gate_ll.h>
+    #if ESP_IDF_VERSION_MAJOR >= 6
+        #include "sha/sha_core.h"
+    #endif
 #elif defined(CONFIG_IDF_TARGET_ESP32)   || \
       defined(CONFIG_IDF_TARGET_ESP32S2) || \
       defined(CONFIG_IDF_TARGET_ESP32S3)
@@ -1928,6 +1931,24 @@ static int wc_esp_process_block(WC_ESP32SHA* ctx, /* see ctx->sha_type */
     }
     if (ctx->isfirstblock) {
         ets_sha_enable(); /* will clear initial digest     */
+#if ESP_IDF_VERSION_MAJOR >= 6
+        /* Beginning ESP-IDF v6, the mode needs to be explicitly set. */
+        sha_hal_wait_idle();
+        switch (ctx->sha_type) {
+            case SHA1:
+                sha_hal_set_mode(SHA1);
+                break;
+            case SHA2_224:
+                esp_sha_set_mode(SHA2_224);
+                break;
+            case SHA2_256:
+                esp_sha_set_mode(SHA2_256);
+                break;
+            default:
+                /* Unsupported SHA mode. */
+                ESP_LOGW(TAG, "Unexpected sha_type", ctx->sha_type);
+        }
+#endif
         #if defined(DEBUG_WOLFSSL)
         {
             this_block_num = 1; /* one-based counter, just for debug info */