diff --git a/config/esp32/components/chip/CMakeLists.txt b/config/esp32/components/chip/CMakeLists.txt
index fcd62b8757a36c..2b983e36a0761f 100644
--- a/config/esp32/components/chip/CMakeLists.txt
+++ b/config/esp32/components/chip/CMakeLists.txt
@@ -33,7 +33,7 @@ include(${CMAKE_CURRENT_LIST_DIR}/ota-image.cmake)
 
 set(CHIP_REQUIRE_COMPONENTS freertos lwip bt mbedtls fatfs app_update console openthread nvs_flash spi_flash)
 
-if((NOT "${IDF_TARGET}" STREQUAL "esp32h2") AND (NOT "${IDF_TARGET}" STREQUAL "esp32c2"))
+if(NOT "${IDF_TARGET}" STREQUAL "esp32h2")
     list(APPEND CHIP_REQUIRE_COMPONENTS mdns)
 endif()
 
@@ -314,8 +314,15 @@ if(CONFIG_OPENTHREAD_ENABLED)
     list(APPEND chip_libraries $<TARGET_FILE:${openthread_lib}>)
 endif()
 
-if((NOT CONFIG_USE_MINIMAL_MDNS) AND (NOT CONFIG_IDF_TARGET_ESP32H2) AND (NOT CONFIG_IDF_TARGET_ESP32C2))
-    idf_component_get_property(mdns_lib mdns COMPONENT_LIB)
+if((NOT CONFIG_USE_MINIMAL_MDNS) AND (NOT CONFIG_IDF_TARGET_ESP32H2))
+    idf_build_get_property(build_components BUILD_COMPONENTS)
+    # For IDF v5.x, the mdns component was moved to idf_managed_components.
+    # We should use 'espressif__mdns' for 'idf_component_get_property'.
+    if("espressif__mdns" IN_LIST build_components)
+        idf_component_get_property(mdns_lib espressif__mdns COMPONENT_LIB)
+    elseif("mdns" IN_LIST build_components)
+        idf_component_get_property(mdns_lib mdns COMPONENT_LIB)
+    endif()
     list(APPEND chip_libraries $<TARGET_FILE:${mdns_lib}>)
 endif()
 
diff --git a/src/platform/ESP32/DnssdImpl.cpp b/src/platform/ESP32/DnssdImpl.cpp
index 2b31b1e6d7659b..1615ea9e1b9119 100644
--- a/src/platform/ESP32/DnssdImpl.cpp
+++ b/src/platform/ESP32/DnssdImpl.cpp
@@ -170,6 +170,13 @@ CHIP_ERROR ChipDnssdPublishService(const DnssdService * service, DnssdPublishCal
         espError = mdns_service_txt_set(service->mType, GetProtocolString(service->mProtocol), items,
                                         static_cast<uint8_t>(service->mTextEntrySize));
     }
+#if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(5, 0, 0)
+    for (size_t i = 0; i < service->mSubTypeSize; i++)
+    {
+        mdns_service_subtype_add_for_host(service->mName, service->mType, GetProtocolString(service->mProtocol), service->mHostName,
+                                          service->mSubTypes[i]);
+    }
+#endif
     VerifyOrExit(espError == ESP_OK, error = CHIP_ERROR_INTERNAL);
 
 exit:
@@ -432,7 +439,11 @@ void MdnsQueryDone(intptr_t context)
     }
     mdns_search_once_t * searchHandle = reinterpret_cast<mdns_search_once_t *>(context);
     GenericContext * ctx              = FindMdnsQuery(searchHandle);
+#if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(5, 0, 0)
+    if (mdns_query_async_get_results(searchHandle, kTimeoutMilli, &(ctx->mResult), NULL))
+#else
     if (mdns_query_async_get_results(searchHandle, kTimeoutMilli, &(ctx->mResult)))
+#endif // ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(5, 0, 0)
     {
         if (ctx->mContextType == ContextType::Browse)
         {