diff --git a/libraries/AP_HAL_ESP32/targets/esp32/esp-idf/CMakeLists.txt b/libraries/AP_HAL_ESP32/targets/esp32/esp-idf/CMakeLists.txt
index 32b77dd94fb90..0e2800f2ed26e 100644
--- a/libraries/AP_HAL_ESP32/targets/esp32/esp-idf/CMakeLists.txt
+++ b/libraries/AP_HAL_ESP32/targets/esp32/esp-idf/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.16)
 
 set(CMAKE_TOOLCHAIN_FILE $ENV{IDF_PATH}/tools/cmake/toolchain-esp32.cmake CACHE STRING "")
 
diff --git a/libraries/AP_HAL_ESP32/targets/esp32s3/esp-idf/CMakeLists.txt b/libraries/AP_HAL_ESP32/targets/esp32s3/esp-idf/CMakeLists.txt
index 8a63d422c509f..18981d4baf1ca 100644
--- a/libraries/AP_HAL_ESP32/targets/esp32s3/esp-idf/CMakeLists.txt
+++ b/libraries/AP_HAL_ESP32/targets/esp32s3/esp-idf/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.16)
 
 set(CMAKE_TOOLCHAIN_FILE $ENV{IDF_PATH}/tools/cmake/toolchain-esp32s3.cmake CACHE STRING "")