diff --git a/cpu/esp32/Makefile.dep b/cpu/esp32/Makefile.dep
index af918d66649812bf26168660bf9fae21ab3c550b..c5d8e5803859b2a2bf00a6fc88efc65becb02b61 100644
--- a/cpu/esp32/Makefile.dep
+++ b/cpu/esp32/Makefile.dep
@@ -28,6 +28,7 @@ endif
 
 ifneq (,$(filter esp_wifi_any,$(USEMODULE)))
     # add additional modules used for any WiFi interface
+    USEMODULE += esp_idf_heap
     USEMODULE += esp_idf_wpa_supplicant_crypto
     USEMODULE += esp_idf_wpa_supplicant_port
     USEMODULE += esp_idf_nvs_flash