diff --git a/CHANGELOG.md b/CHANGELOG.md
index 3d5f74f9565..00daa886066 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -13,6 +13,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 - Add the `esp32c6-lp-hal` package (#714)
 - Add GPIO (output) and delay functionality to `esp32c6-lp-hal` (#715)
+- Implement RTCIO pullup, pulldown and hold control for Xtensa MCUs (#684)
 
 ### Changed
 
diff --git a/esp-hal-common/src/gpio.rs b/esp-hal-common/src/gpio.rs
index 3ff98216c23..4baee678cd1 100644
--- a/esp-hal-common/src/gpio.rs
+++ b/esp-hal-common/src/gpio.rs
@@ -114,6 +114,12 @@ pub enum RtcFunction {
 pub trait RTCPin: Pin {
     fn rtc_number(&self) -> u8;
     fn rtc_set_config(&mut self, input_enable: bool, mux: bool, func: RtcFunction);
+    fn rtcio_pad_hold(&mut self, enable: bool);
+}
+
+pub trait RTCPinWithResistors: RTCPin {
+    fn rtcio_pullup(&mut self, enable: bool);
+    fn rtcio_pulldown(&mut self, enable: bool);
 }
 
 pub trait RTCInputPin: RTCPin {}
@@ -1443,11 +1449,9 @@ macro_rules! gpio {
 #[macro_export]
 macro_rules! rtc_pins {
     (
-        $pin_num:expr, $rtc_pin:expr, $pin_reg:expr, $prefix:pat
+        $pin_num:expr, $rtc_pin:expr, $pin_reg:expr, $prefix:pat, $hold:ident $(, $rue:ident, $rde:ident)?
     ) => {
         impl<MODE> crate::gpio::RTCPin for GpioPin<MODE, $pin_num>
-        where
-            Self: crate::gpio::GpioProperties,
         {
             fn rtc_number(&self) -> u8 {
                 $rtc_pin
@@ -1468,14 +1472,45 @@ macro_rules! rtc_pins {
                     });
                 }
             }
+
+            fn rtcio_pad_hold(&mut self, enable: bool) {
+                let rtc_ctrl = unsafe { &*crate::peripherals::RTC_CNTL::PTR };
+
+                #[cfg(esp32)]
+                rtc_ctrl.hold_force.modify(|_, w| w.$hold().bit(enable));
+
+                #[cfg(not(esp32))]
+                rtc_ctrl.pad_hold.modify(|_, w| w.$hold().bit(enable));
+            }
         }
+
+        $(
+            impl<MODE> crate::gpio::RTCPinWithResistors for GpioPin<MODE, $pin_num>
+            {
+                fn rtcio_pullup(&mut self, enable: bool) {
+                    let rtcio = unsafe { &*crate::peripherals::RTC_IO::PTR };
+
+                    paste::paste! {
+                        rtcio.$pin_reg.modify(|_, w| w.$rue().bit([< enable >]));
+                    }
+                }
+
+                fn rtcio_pulldown(&mut self, enable: bool) {
+                    let rtcio = unsafe { &*crate::peripherals::RTC_IO::PTR };
+
+                    paste::paste! {
+                        rtcio.$pin_reg.modify(|_, w| w.$rde().bit([< enable >]));
+                    }
+                }
+            }
+        )?
     };
 
     (
-        $( ( $pin_num:expr, $rtc_pin:expr, $pin_reg:expr, $prefix:pat ) )+
+        $( ( $pin_num:expr, $rtc_pin:expr, $pin_reg:expr, $prefix:pat, $hold:ident $(, $rue:ident, $rde:ident)? ) )+
     ) => {
         $(
-            crate::gpio::rtc_pins!($pin_num, $rtc_pin, $pin_reg, $prefix);
+            crate::gpio::rtc_pins!($pin_num, $rtc_pin, $pin_reg, $prefix, $hold $(, $rue, $rde)?);
         )+
     };
 }
diff --git a/esp-hal-common/src/soc/esp32/gpio.rs b/esp-hal-common/src/soc/esp32/gpio.rs
index 8dce73b0fdd..317c5225214 100644
--- a/esp-hal-common/src/soc/esp32/gpio.rs
+++ b/esp-hal-common/src/soc/esp32/gpio.rs
@@ -763,24 +763,24 @@ crate::gpio::analog! {
 }
 
 crate::gpio::rtc_pins! {
-        (36, 0,  sensor_pads,   sense1_ )
-        (37, 1,  sensor_pads,   sense2_ )
-        (38, 2,  sensor_pads,   sense3_ )
-        (39, 3,  sensor_pads,   sense4_ )
-        (34, 4,  adc_pad,         adc1_ )
-        (35, 5,  adc_pad,         adc2_ )
-        (25, 6,  pad_dac1,       pdac1_ )
-        (26, 7,  pad_dac2,       pdac2_ )
-        (33, 8,  xtal_32k_pad,    x32n_ )
-        (32, 9,  xtal_32k_pad,    x32p_ )
-        (4,  10, touch_pad0,      "")
-        (0,  11, touch_pad1,      "")
-        (2,  12, touch_pad2,      "")
-        (15, 13, touch_pad3,      "")
-        (13, 14, touch_pad4,      "")
-        (12, 15, touch_pad5,      "")
-        (14, 16, touch_pad6,      "")
-        (27, 17, touch_pad7,      "")
+        (36, 0,  sensor_pads,  sense1_, sense1_hold_force )
+        (37, 1,  sensor_pads,  sense2_, sense2_hold_force )
+        (38, 2,  sensor_pads,  sense3_, sense3_hold_force )
+        (39, 3,  sensor_pads,  sense4_, sense4_hold_force )
+        (34, 4,  adc_pad,        adc1_, adc1_hold_force )
+        (35, 5,  adc_pad,        adc2_, adc2_hold_force )
+        (25, 6,  pad_dac1,      pdac1_, pdac1_hold_force,      pdac1_rue, pdac1_rde )
+        (26, 7,  pad_dac2,      pdac2_, pdac2_hold_force,      pdac2_rue, pdac2_rde )
+        (33, 8,  xtal_32k_pad,   x32n_, x32n_hold_force,       x32n_rue,  x32n_rde  )
+        (32, 9,  xtal_32k_pad,   x32p_, x32p_hold_force,       x32p_rue,  x32p_rde  )
+        (4,  10, touch_pad0,     "",    touch_pad0_hold_force, rue,       rde       )
+        (0,  11, touch_pad1,     "",    touch_pad1_hold_force, rue,       rde       )
+        (2,  12, touch_pad2,     "",    touch_pad2_hold_force, rue,       rde       )
+        (15, 13, touch_pad3,     "",    touch_pad3_hold_force, rue,       rde       )
+        (13, 14, touch_pad4,     "",    touch_pad4_hold_force, rue,       rde       )
+        (12, 15, touch_pad5,     "",    touch_pad5_hold_force, rue,       rde       )
+        (14, 16, touch_pad6,     "",    touch_pad6_hold_force, rue,       rde       )
+        (27, 17, touch_pad7,     "",    touch_pad7_hold_force, rue,       rde       )
 }
 
 impl InterruptStatusRegisterAccess for InterruptStatusRegisterAccessBank0 {
diff --git a/esp-hal-common/src/soc/esp32s2/gpio.rs b/esp-hal-common/src/soc/esp32s2/gpio.rs
index 594c59d8aaa..2d29ebb7af9 100644
--- a/esp-hal-common/src/soc/esp32s2/gpio.rs
+++ b/esp-hal-common/src/soc/esp32s2/gpio.rs
@@ -384,28 +384,28 @@ crate::gpio::analog! {
 }
 
 crate::gpio::rtc_pins! {
-    ( 0,  0,  touch_pad[0],   "")
-    ( 1,  1,  touch_pad[1],   "")
-    ( 2,  2,  touch_pad[2],   "")
-    ( 3,  3,  touch_pad[3],   "")
-    ( 4,  4,  touch_pad[4],   "")
-    ( 5,  5,  touch_pad[5],   "")
-    ( 6,  6,  touch_pad[6],   "")
-    ( 7,  7,  touch_pad[7],   "")
-    ( 8,  8,  touch_pad[8],   "")
-    ( 9,  9,  touch_pad[9],   "")
-    (10, 10,  touch_pad[10],  "")
-    (11, 11,  touch_pad[11],  "")
-    (12, 12,  touch_pad[12],  "")
-    (13, 13,  touch_pad[13],  "")
-    (14, 14,  touch_pad[14],  "")
-    (15, 15,  xtal_32p_pad,   x32p_)
-    (16, 16,  xtal_32n_pad,   x32n_)
-    (17, 17,  pad_dac1,       pdac1_)
-    (18, 18,  pad_dac2,       pdac2_)
-    (19, 19,  rtc_pad19,      "")
-    (20, 20,  rtc_pad20,      "")
-    (21, 21,  rtc_pad21,      "")
+    ( 0,  0,  touch_pad[0],  "",     touch_pad0_hold,  rue,       rde)
+    ( 1,  1,  touch_pad[1],  "",     touch_pad1_hold,  rue,       rde)
+    ( 2,  2,  touch_pad[2],  "",     touch_pad2_hold,  rue,       rde)
+    ( 3,  3,  touch_pad[3],  "",     touch_pad3_hold,  rue,       rde)
+    ( 4,  4,  touch_pad[4],  "",     touch_pad4_hold,  rue,       rde)
+    ( 5,  5,  touch_pad[5],  "",     touch_pad5_hold,  rue,       rde)
+    ( 6,  6,  touch_pad[6],  "",     touch_pad6_hold,  rue,       rde)
+    ( 7,  7,  touch_pad[7],  "",     touch_pad7_hold,  rue,       rde)
+    ( 8,  8,  touch_pad[8],  "",     touch_pad8_hold,  rue,       rde)
+    ( 9,  9,  touch_pad[9],  "",     touch_pad9_hold,  rue,       rde)
+    (10, 10,  touch_pad[10], "",     touch_pad10_hold, rue,       rde)
+    (11, 11,  touch_pad[11], "",     touch_pad11_hold, rue,       rde)
+    (12, 12,  touch_pad[12], "",     touch_pad12_hold, rue,       rde)
+    (13, 13,  touch_pad[13], "",     touch_pad13_hold, rue,       rde)
+    (14, 14,  touch_pad[14], "",     touch_pad14_hold, rue,       rde)
+    (15, 15,  xtal_32p_pad,  x32p_,  x32p_hold,        x32p_rue,  x32p_rde)
+    (16, 16,  xtal_32n_pad,  x32n_,  x32n_hold,        x32n_rue,  x32n_rde)
+    (17, 17,  pad_dac1,      pdac1_, pdac1_hold,       pdac1_rue, pdac1_rde)
+    (18, 18,  pad_dac2,      pdac2_, pdac2_hold,       pdac2_rue, pdac2_rde)
+    (19, 19,  rtc_pad19,     "",     pad19_hold,       rue,       rde)
+    (20, 20,  rtc_pad20,     "",     pad20_hold,       rue,       rde)
+    (21, 21,  rtc_pad21,     "",     pad21_hold,       rue,       rde)
 }
 
 impl InterruptStatusRegisterAccess for InterruptStatusRegisterAccessBank0 {
diff --git a/esp-hal-common/src/soc/esp32s3/gpio.rs b/esp-hal-common/src/soc/esp32s3/gpio.rs
index 1bf25e76413..ed80055a15d 100644
--- a/esp-hal-common/src/soc/esp32s3/gpio.rs
+++ b/esp-hal-common/src/soc/esp32s3/gpio.rs
@@ -376,28 +376,28 @@ crate::gpio::analog! {
 }
 
 crate::gpio::rtc_pins! {
-    ( 0,  0,  touch_pad0,     "")
-    ( 1,  1,  touch_pad1,     "")
-    ( 2,  2,  touch_pad2,     "")
-    ( 3,  3,  touch_pad3,     "")
-    ( 4,  4,  touch_pad4,     "")
-    ( 5,  5,  touch_pad5,     "")
-    ( 6,  6,  touch_pad6,     "")
-    ( 7,  7,  touch_pad7,     "")
-    ( 8,  8,  touch_pad8,     "")
-    ( 9,  9,  touch_pad9,     "")
-    (10, 10,  touch_pad10,    "")
-    (11, 11,  touch_pad11,    "")
-    (12, 12,  touch_pad12,    "")
-    (13, 13,  touch_pad13,    "")
-    (14, 14,  touch_pad14,    "")
-    (15, 15,  xtal_32p_pad,   x32p_)
-    (16, 16,  xtal_32n_pad,   x32n_)
-    (17, 17,  pad_dac1,       pdac1_)
-    (18, 18,  pad_dac2,       pdac2_)
-    (19, 19,  rtc_pad19,      "")
-    (20, 20,  rtc_pad20,      "")
-    (21, 21,  rtc_pad21,      "")
+    ( 0,  0,  touch_pad0,   "",     touch_pad0_hold,        rue,       rde)
+    ( 1,  1,  touch_pad1,   "",     touch_pad1_hold,        rue,       rde)
+    ( 2,  2,  touch_pad2,   "",     touch_pad2_hold,        rue,       rde)
+    ( 3,  3,  touch_pad3,   "",     touch_pad3_hold,        rue,       rde)
+    ( 4,  4,  touch_pad4,   "",     touch_pad4_hold,        rue,       rde)
+    ( 5,  5,  touch_pad5,   "",     touch_pad5_hold,        rue,       rde)
+    ( 6,  6,  touch_pad6,   "",     touch_pad6_hold,        rue,       rde)
+    ( 7,  7,  touch_pad7,   "",     touch_pad7_hold,        rue,       rde)
+    ( 8,  8,  touch_pad8,   "",     touch_pad8_hold,        rue,       rde)
+    ( 9,  9,  touch_pad9,   "",     touch_pad9_hold,        rue,       rde)
+    (10, 10,  touch_pad10,  "",     touch_pad10_hold,       rue,       rde)
+    (11, 11,  touch_pad11,  "",     touch_pad11_hold,       rue,       rde)
+    (12, 12,  touch_pad12,  "",     touch_pad12_hold,       rue,       rde)
+    (13, 13,  touch_pad13,  "",     touch_pad13_hold,       rue,       rde)
+    (14, 14,  touch_pad14,  "",     touch_pad14_hold,       rue,       rde)
+    (15, 15,  xtal_32p_pad, x32p_,  x32p_hold,         x32p_rue,  x32p_rde)
+    (16, 16,  xtal_32n_pad, x32n_,  x32n_hold,         x32n_rue,  x32n_rde)
+    (17, 17,  pad_dac1,     pdac1_, pdac1_hold,       pdac1_rue, pdac1_rde)
+    (18, 18,  pad_dac2,     pdac2_, pdac2_hold,       pdac2_rue, pdac2_rde)
+    (19, 19,  rtc_pad19,    "",     pad19_hold,             rue,       rde)
+    (20, 20,  rtc_pad20,    "",     pad20_hold,             rue,       rde)
+    (21, 21,  rtc_pad21,    "",     pad21_hold,             rue,       rde)
 }
 
 // Whilst the S3 is a dual core chip, it shares the enable registers between