diff --git a/.github/workflows/docker-image.yml b/.github/workflows/docker-image.yml
index 78ee985dd6..4d06230f80 100644
--- a/.github/workflows/docker-image.yml
+++ b/.github/workflows/docker-image.yml
@@ -57,3 +57,6 @@ jobs:
           push: true
           tags: ${{ env.DOCKERHUB_REPO }}:${{ env.TAG_NAME }}
           platforms: ${{ env.BUILD_PLATFORMS }}
+          build-args: |
+            ESP_MATTER_CLONE_URL=${{ github.server_url }}/${{ github.repository }}.git
+            ESP_MATTER_CLONE_SHALLOW=1
diff --git a/tools/docker/README.md b/tools/docker/README.md
new file mode 100644
index 0000000000..20e8d7fbbe
--- /dev/null
+++ b/tools/docker/README.md
@@ -0,0 +1,22 @@
+# Espressif's SDK for Matter Docker Image
+
+This is a Docker image for the [Espressif's SDK for Matter (ESP-MATTER)](https://github.com/espressif/esp-matter). It is intended for building applications of ESP-IDF that uses Espressif's SDK for Matter, when doing automated builds.
+
+This image contains a copy of the Espressif's SDK for Matter, a copy of ESP-IDF and the required tools for Matter to build ESP-IDF projects that use Espressif's SDK for Matter.
+
+## Basic Usage
+
+Build a project located in the current directory using `idf.py build` command:
+
+```bash
+docker run --rm -v $PWD:/project -w /project espressif/esp-matter:latest idf.py build
+```
+## Building custom images
+
+The Dockerfile in Espressif's SDK for Matter repository provides several build arguments which can be used to customize the Docker image:
+
+These are the different build arguments that can be used:
+- ``ESP_MATTER_CLONE_URL``: URL of the repository to clone Espressif's SDK for Matter. Can be set to a custom URL when working with a fork of Espressif's SDK for Matter. Default is ``https://github.com/espressif/esp-matter.git``.
+- ``ESP_MATTER_CLONE_BRANCH_OR_TAG``: Name of a git branch or tag use when cloning Espressif's SDK for Matter. This value is passed to ``git clone`` command using the ``--branch`` argument. Default is ``main``.
+- ``ESP_MATTER_CHECKOUT_REF``: If this argument is set to a non-empty value, ``git checkout $ESP_MATTER_CHECKOUT_REF`` command will be performed after cloning. This argument can be set to the SHA of the specific commit to check out, for example if some specific commit on a release branch is desired.
+- ``ESP_MATTER_CLONE_SHALLOW``: If this argument is set to a non-empty value, ``--depth=1`` argument will be used when performing ``git clone`` and it will download only the required submodules by Matter for ESP32 platform only using [``checkout_submodules.py``](https://github.com/project-chip/connectedhomeip/blob/master/scripts/checkout_submodules.py). If it is empty will clone recursively all the submodules from Matter repository.
diff --git a/tools/docker/entrypoint.sh b/tools/docker/entrypoint.sh
new file mode 100755
index 0000000000..3954472ba1
--- /dev/null
+++ b/tools/docker/entrypoint.sh
@@ -0,0 +1,7 @@
+#!/usr/bin/env bash
+set -e
+
+. $IDF_PATH/export.sh
+. $ESP_MATTER_PATH/export.sh
+
+exec "$@"
diff --git a/tools/docker/matter-builds b/tools/docker/matter-builds
index 96d29019e9..13a7a3c52a 100644
--- a/tools/docker/matter-builds
+++ b/tools/docker/matter-builds
@@ -1,16 +1,48 @@
 ARG VERSION=latest
 FROM connectedhomeip/chip-build-esp32:${VERSION} as build
 
+# To build the image for a branch or a tag of ESP-MATTER, pass --build-arg ESP_MATTER_CLONE_BRANCH_OR_TAG=name.
+# To build the image with a specific commit ID of ESP-MATTER, pass --build-arg ESP_MATTER_CHECKOUT_REF=commit-id.
+# It is possibe to combine both, e.g.:
+#   ESP_MATTER_CLONE_BRANCH_OR_TAG=release/vX.Y
+#   ESP_MATTER_CHECKOUT_REF=<some commit on release/vX.Y branch>.
+# Use ESP_MATTER_CLONE_SHALLOW=1 to peform shallow clone (i.e. --depth=1 --shallow-submodules)
+
+ARG ESP_MATTER_CLONE_URL=https://github.com/espressif/esp-matter.git
+ARG ESP_MATTER_CLONE_BRANCH_OR_TAG=main
+ARG ESP_MATTER_CHECKOUT_REF=
+ARG ESP_MATTER_CLONE_SHALLOW=
+
 WORKDIR /opt/espressif
 ENV ESP_MATTER_PATH=/opt/espressif/esp-matter
 
 RUN set -x \
-    && git clone --depth 1 https://github.com/espressif/esp-matter.git \
-    && cd esp-matter \
-    && git submodule update --init --depth 1 \
-    && ./connectedhomeip/connectedhomeip/scripts/checkout_submodules.py --platform esp32 --shallow \
+    && if [ -n "$ESP_MATTER_CLONE_SHALLOW" ]; then \
+      git clone \
+        ${ESP_MATTER_CLONE_BRANCH_OR_TAG:+-b $ESP_MATTER_CLONE_BRANCH_OR_TAG} \
+        $ESP_MATTER_CLONE_URL $ESP_MATTER_PATH; \
+    else \
+      git clone --recursive \
+        ${ESP_MATTER_CLONE_BRANCH_OR_TAG:+-b $ESP_MATTER_CLONE_BRANCH_OR_TAG} \
+        $ESP_MATTER_CLONE_URL $ESP_MATTER_PATH; \
+    fi \
+    && cd $ESP_MATTER_PATH \
+    && if [ -n "$ESP_MATTER_CHECKOUT_REF" ]; then \
+      git checkout $ESP_MATTER_CHECKOUT_REF \
+      && if [ -n "$ESP_MATTER_CLONE_SHALLOW" ]; then \
+        git fetch origin --depth=1 --recurse-submodules ${ESP_MATTER_CHECKOUT_REF}; \
+      fi; \
+    fi \
+    && if [ -n "$ESP_MATTER_CLONE_SHALLOW" ]; then \
+      git submodule update --init --depth=1 \
+      && ./connectedhomeip/connectedhomeip/scripts/checkout_submodules.py --platform esp32 --shallow; \
+    fi \
     && . $IDF_PATH/export.sh \
     && ./install.sh \
     && : # last line
 
+COPY entrypoint.sh /opt/esp/entrypoint.sh
+ENTRYPOINT [ "/opt/esp/entrypoint.sh" ]
+CMD [ "/bin/bash" ]
+
 WORKDIR /opt/espressif/esp-matter