diff --git a/ports/esp32/README.md b/ports/esp32/README.md
index 4f63750593dc0..c349f44b27ef3 100644
--- a/ports/esp32/README.md
+++ b/ports/esp32/README.md
@@ -28,8 +28,8 @@ manage the ESP32 microcontroller, as well as a way to manage the required
 build environment and toolchains needed to build the firmware.
 
 The ESP-IDF changes quickly and MicroPython only supports certain versions.
-Currently MicroPython supports v4.0.2, although other IDF v4 versions may also
-work.
+Currently MicroPython supports v4.0.2, v4.1.1 and v4.2,
+although other IDF v4 versions may also work.
 
 To install the ESP-IDF the full instructions can be found at the
 [Espressif Getting Started guide](https://docs.espressif.com/projects/esp-idf/en/v4.0.2/get-started/index.html#installation-step-by-step).
@@ -50,6 +50,7 @@ To check out a copy of the IDF use git clone:
 $ git clone -b v4.0.2 --recursive https://github.com/espressif/esp-idf.git
 ```
 
+You can replace `v4.0.2` with `v4.1.1` or any other supported version.
 (You don't need a full recursive clone; see the `ci_esp32_setup` function in
 `tools/ci.sh` in this repository for more detailed set-up commands.)
 
diff --git a/ports/esp32/esp32_ulp.c b/ports/esp32/esp32_ulp.c
index 4e9d768146301..50244cdf25060 100644
--- a/ports/esp32/esp32_ulp.c
+++ b/ports/esp32/esp32_ulp.c
@@ -85,11 +85,7 @@ STATIC const mp_rom_map_elem_t esp32_ulp_locals_dict_table[] = {
     { MP_ROM_QSTR(MP_QSTR_set_wakeup_period), MP_ROM_PTR(&esp32_ulp_set_wakeup_period_obj) },
     { MP_ROM_QSTR(MP_QSTR_load_binary), MP_ROM_PTR(&esp32_ulp_load_binary_obj) },
     { MP_ROM_QSTR(MP_QSTR_run), MP_ROM_PTR(&esp32_ulp_run_obj) },
-    #if !MICROPY_ESP_IDF_4
-    { MP_ROM_QSTR(MP_QSTR_RESERVE_MEM), MP_ROM_INT(CONFIG_ULP_COPROC_RESERVE_MEM) },
-    #else
     { MP_ROM_QSTR(MP_QSTR_RESERVE_MEM), MP_ROM_INT(CONFIG_ESP32_ULP_COPROC_RESERVE_MEM) },
-    #endif
 };
 STATIC MP_DEFINE_CONST_DICT(esp32_ulp_locals_dict, esp32_ulp_locals_dict_table);
 
diff --git a/ports/esp32/machine_uart.c b/ports/esp32/machine_uart.c
index c334e694b21b0..7fce83f2c4c2b 100644
--- a/ports/esp32/machine_uart.c
+++ b/ports/esp32/machine_uart.c
@@ -36,6 +36,20 @@
 #include "py/mperrno.h"
 #include "modmachine.h"
 
+#if ESP_IDF_VERSION < ESP_IDF_VERSION_VAL(4, 1, 0)
+#define UART_INV_TX UART_INVERSE_TXD
+#define UART_INV_RX UART_INVERSE_RXD
+#define UART_INV_RTS UART_INVERSE_RTS
+#define UART_INV_CTS UART_INVERSE_CTS
+#else
+#define UART_INV_TX UART_SIGNAL_TXD_INV
+#define UART_INV_RX UART_SIGNAL_RXD_INV
+#define UART_INV_RTS UART_SIGNAL_RTS_INV
+#define UART_INV_CTS UART_SIGNAL_CTS_INV
+#endif
+
+#define UART_INV_MASK (UART_INV_TX | UART_INV_RX | UART_INV_RTS | UART_INV_CTS)
+
 typedef struct _machine_uart_obj_t {
     mp_obj_base_t base;
     uart_port_t uart_num;
@@ -68,28 +82,28 @@ STATIC void machine_uart_print(const mp_print_t *print, mp_obj_t self_in, mp_pri
     if (self->invert) {
         mp_printf(print, ", invert=");
         uint32_t invert_mask = self->invert;
-        if (invert_mask & UART_INVERSE_TXD) {
+        if (invert_mask & UART_INV_TX) {
             mp_printf(print, "INV_TX");
-            invert_mask &= ~UART_INVERSE_TXD;
+            invert_mask &= ~UART_INV_TX;
             if (invert_mask) {
                 mp_printf(print, "|");
             }
         }
-        if (invert_mask & UART_INVERSE_RXD) {
+        if (invert_mask & UART_INV_RX) {
             mp_printf(print, "INV_RX");
-            invert_mask &= ~UART_INVERSE_RXD;
+            invert_mask &= ~UART_INV_RX;
             if (invert_mask) {
                 mp_printf(print, "|");
             }
         }
-        if (invert_mask & UART_INVERSE_RTS) {
+        if (invert_mask & UART_INV_RTS) {
             mp_printf(print, "INV_RTS");
-            invert_mask &= ~UART_INVERSE_RTS;
+            invert_mask &= ~UART_INV_RTS;
             if (invert_mask) {
                 mp_printf(print, "|");
             }
         }
-        if (invert_mask & UART_INVERSE_CTS) {
+        if (invert_mask & UART_INV_CTS) {
             mp_printf(print, "INV_CTS");
         }
     }
@@ -238,7 +252,7 @@ STATIC void machine_uart_init_helper(machine_uart_obj_t *self, size_t n_args, co
     }
 
     // set line inversion
-    if (args[ARG_invert].u_int & ~UART_LINE_INV_MASK) {
+    if (args[ARG_invert].u_int & ~UART_INV_MASK) {
         mp_raise_ValueError(MP_ERROR_TEXT("invalid inversion mask"));
     }
     self->invert = args[ARG_invert].u_int;
@@ -380,10 +394,10 @@ STATIC const mp_rom_map_elem_t machine_uart_locals_dict_table[] = {
     { MP_ROM_QSTR(MP_QSTR_write), MP_ROM_PTR(&mp_stream_write_obj) },
     { MP_ROM_QSTR(MP_QSTR_sendbreak), MP_ROM_PTR(&machine_uart_sendbreak_obj) },
 
-    { MP_ROM_QSTR(MP_QSTR_INV_TX), MP_ROM_INT(UART_INVERSE_TXD) },
-    { MP_ROM_QSTR(MP_QSTR_INV_RX), MP_ROM_INT(UART_INVERSE_RXD) },
-    { MP_ROM_QSTR(MP_QSTR_INV_RTS), MP_ROM_INT(UART_INVERSE_RTS) },
-    { MP_ROM_QSTR(MP_QSTR_INV_CTS), MP_ROM_INT(UART_INVERSE_CTS) },
+    { MP_ROM_QSTR(MP_QSTR_INV_TX), MP_ROM_INT(UART_INV_TX) },
+    { MP_ROM_QSTR(MP_QSTR_INV_RX), MP_ROM_INT(UART_INV_RX) },
+    { MP_ROM_QSTR(MP_QSTR_INV_RTS), MP_ROM_INT(UART_INV_RTS) },
+    { MP_ROM_QSTR(MP_QSTR_INV_CTS), MP_ROM_INT(UART_INV_CTS) },
 };
 
 STATIC MP_DEFINE_CONST_DICT(machine_uart_locals_dict, machine_uart_locals_dict_table);
diff --git a/ports/esp32/main.c b/ports/esp32/main.c
index 6f9ab82d0512a..001f2beaeb5e9 100644
--- a/ports/esp32/main.c
+++ b/ports/esp32/main.c
@@ -37,11 +37,7 @@
 #include "esp_task.h"
 #include "soc/cpu.h"
 #include "esp_log.h"
-#if MICROPY_ESP_IDF_4
 #include "esp32/spiram.h"
-#else
-#include "esp_spiram.h"
-#endif
 
 #include "py/stackctrl.h"
 #include "py/nlr.h"
diff --git a/ports/esp32/main/CMakeLists.txt b/ports/esp32/main/CMakeLists.txt
index eedf3ae9a511f..52985383f92dd 100644
--- a/ports/esp32/main/CMakeLists.txt
+++ b/ports/esp32/main/CMakeLists.txt
@@ -104,6 +104,15 @@ set(IDF_COMPONENTS
     xtensa
 )
 
+if(IDF_VERSION_MINOR GREATER_EQUAL 1)
+    list(APPEND IDF_COMPONENTS esp_netif)
+endif()
+
+if(IDF_VERSION_MINOR GREATER_EQUAL 2)
+    list(APPEND IDF_COMPONENTS esp_system)
+    list(APPEND IDF_COMPONENTS esp_timer)
+endif()
+
 # Register the main IDF component.
 idf_component_register(
     SRCS
@@ -165,5 +174,12 @@ foreach(comp ${IDF_COMPONENTS})
     endif()
 endforeach()
 
+if(IDF_VERSION_MINOR GREATER_EQUAL 2)
+    # These paths cannot currently be found by the IDF_COMPONENTS search loop above,
+    # so add them explicitly.
+    list(APPEND MICROPY_CPP_INC_EXTRA ${IDF_PATH}/components/soc/soc/${IDF_TARGET}/include)
+    list(APPEND MICROPY_CPP_INC_EXTRA ${IDF_PATH}/components/soc/soc/include)
+endif()
+
 # Include the main MicroPython cmake rules.
 include(${MICROPY_DIR}/py/mkrules.cmake)
diff --git a/ports/esp32/modesp.c b/ports/esp32/modesp.c
index 369649c119ffd..59a261e8c27ff 100644
--- a/ports/esp32/modesp.c
+++ b/ports/esp32/modesp.c
@@ -29,9 +29,6 @@
 
 #include <stdio.h>
 
-#if !MICROPY_ESP_IDF_4
-#include "rom/gpio.h"
-#endif
 #include "esp_log.h"
 #include "esp_spi_flash.h"
 
diff --git a/ports/esp32/modmachine.c b/ports/esp32/modmachine.c
index 303d25ee8b2d1..bb346ea1cd3fb 100644
--- a/ports/esp32/modmachine.c
+++ b/ports/esp32/modmachine.c
@@ -32,15 +32,9 @@
 
 #include "freertos/FreeRTOS.h"
 #include "freertos/task.h"
-#if MICROPY_ESP_IDF_4
 #include "esp32/rom/rtc.h"
 #include "esp32/clk.h"
 #include "esp_sleep.h"
-#else
-#include "rom/ets_sys.h"
-#include "rom/rtc.h"
-#include "esp_clk.h"
-#endif
 #include "esp_pm.h"
 #include "driver/touch_pad.h"
 
diff --git a/ports/esp32/modnetwork.c b/ports/esp32/modnetwork.c
index d981b60805007..f772fa2cf6420 100644
--- a/ports/esp32/modnetwork.c
+++ b/ports/esp32/modnetwork.c
@@ -45,7 +45,6 @@
 #include "esp_wifi.h"
 #include "esp_log.h"
 #include "lwip/dns.h"
-#include "tcpip_adapter.h"
 #include "mdns.h"
 
 #if !MICROPY_ESP_IDF_4
@@ -55,6 +54,12 @@
 
 #include "modnetwork.h"
 
+#if ESP_IDF_VERSION < ESP_IDF_VERSION_VAL(4, 1, 0)
+#define DNS_MAIN TCPIP_ADAPTER_DNS_MAIN
+#else
+#define DNS_MAIN ESP_NETIF_DNS_MAIN
+#endif
+
 #define MODNETWORK_INCLUDE_CONSTANTS (1)
 
 NORETURN void _esp_exceptions(esp_err_t e) {
@@ -491,7 +496,7 @@ STATIC mp_obj_t esp_ifconfig(size_t n_args, const mp_obj_t *args) {
     tcpip_adapter_ip_info_t info;
     tcpip_adapter_dns_info_t dns_info;
     tcpip_adapter_get_ip_info(self->if_id, &info);
-    tcpip_adapter_get_dns_info(self->if_id, TCPIP_ADAPTER_DNS_MAIN, &dns_info);
+    tcpip_adapter_get_dns_info(self->if_id, DNS_MAIN, &dns_info);
     if (n_args == 1) {
         // get
         mp_obj_t tuple[4] = {
@@ -526,14 +531,14 @@ STATIC mp_obj_t esp_ifconfig(size_t n_args, const mp_obj_t *args) {
                     _esp_exceptions(e);
                 }
                 ESP_EXCEPTIONS(tcpip_adapter_set_ip_info(self->if_id, &info));
-                ESP_EXCEPTIONS(tcpip_adapter_set_dns_info(self->if_id, TCPIP_ADAPTER_DNS_MAIN, &dns_info));
+                ESP_EXCEPTIONS(tcpip_adapter_set_dns_info(self->if_id, DNS_MAIN, &dns_info));
             } else if (self->if_id == WIFI_IF_AP) {
                 esp_err_t e = tcpip_adapter_dhcps_stop(WIFI_IF_AP);
                 if (e != ESP_OK && e != ESP_ERR_TCPIP_ADAPTER_DHCP_ALREADY_STOPPED) {
                     _esp_exceptions(e);
                 }
                 ESP_EXCEPTIONS(tcpip_adapter_set_ip_info(WIFI_IF_AP, &info));
-                ESP_EXCEPTIONS(tcpip_adapter_set_dns_info(WIFI_IF_AP, TCPIP_ADAPTER_DNS_MAIN, &dns_info));
+                ESP_EXCEPTIONS(tcpip_adapter_set_dns_info(WIFI_IF_AP, DNS_MAIN, &dns_info));
                 ESP_EXCEPTIONS(tcpip_adapter_dhcps_start(WIFI_IF_AP));
             }
         } else {
diff --git a/ports/esp32/modsocket.c b/ports/esp32/modsocket.c
index 85433e575fc51..ce7a714eb233c 100644
--- a/ports/esp32/modsocket.c
+++ b/ports/esp32/modsocket.c
@@ -46,7 +46,6 @@
 #include "py/stream.h"
 #include "py/mperrno.h"
 #include "lib/netutils/netutils.h"
-#include "tcpip_adapter.h"
 #include "mdns.h"
 #include "modnetwork.h"
 
@@ -56,18 +55,6 @@
 #include "lwip/igmp.h"
 #include "esp_log.h"
 
-#if !MICROPY_ESP_IDF_4
-#define lwip_bind lwip_bind_r
-#define lwip_listen lwip_listen_r
-#define lwip_accept lwip_accept_r
-#define lwip_setsockopt lwip_setsockopt_r
-#define lwip_fnctl lwip_fnctl_r
-#define lwip_recvfrom lwip_recvfrom_r
-#define lwip_write lwip_write_r
-#define lwip_sendto lwip_sendto_r
-#define lwip_close lwip_close_r
-#endif
-
 #define SOCKET_POLL_US (100000)
 #define MDNS_QUERY_TIMEOUT_MS (5000)
 #define MDNS_LOCAL_SUFFIX ".local"
@@ -181,7 +168,12 @@ static int _socket_getaddrinfo3(const char *nodename, const char *servname,
         memcpy(nodename_no_local, nodename, nodename_len - local_len);
         nodename_no_local[nodename_len - local_len] = '\0';
 
+        #if ESP_IDF_VERSION < ESP_IDF_VERSION_VAL(4, 1, 0)
         struct ip4_addr addr = {0};
+        #else
+        esp_ip4_addr_t addr = {0};
+        #endif
+
         esp_err_t err = mdns_query_a(nodename_no_local, MDNS_QUERY_TIMEOUT_MS, &addr);
         if (err != ESP_OK) {
             if (err == ESP_ERR_NOT_FOUND) {
diff --git a/ports/esp32/mpconfigport.h b/ports/esp32/mpconfigport.h
index 34be9405e4eb5..7b0a00250b90f 100644
--- a/ports/esp32/mpconfigport.h
+++ b/ports/esp32/mpconfigport.h
@@ -8,10 +8,6 @@
 #include <alloca.h>
 #include "esp_system.h"
 
-#if !MICROPY_ESP_IDF_4
-#include "rom/ets_sys.h"
-#endif
-
 // object representation and NLR handling
 #define MICROPY_OBJ_REPR                    (MICROPY_OBJ_REPR_A)
 #define MICROPY_NLR_SETJMP                  (1)
diff --git a/ports/esp32/mphalport.c b/ports/esp32/mphalport.c
index 54033826847ba..65fa88e4d0780 100644
--- a/ports/esp32/mphalport.c
+++ b/ports/esp32/mphalport.c
@@ -32,12 +32,7 @@
 
 #include "freertos/FreeRTOS.h"
 #include "freertos/task.h"
-
-#if MICROPY_ESP_IDF_4
 #include "esp32/rom/uart.h"
-#else
-#include "rom/uart.h"
-#endif
 
 #include "py/obj.h"
 #include "py/objstr.h"
diff --git a/ports/esp32/mpthreadport.c b/ports/esp32/mpthreadport.c
index d294c92727bf9..140a76464fe40 100644
--- a/ports/esp32/mpthreadport.c
+++ b/ports/esp32/mpthreadport.c
@@ -34,9 +34,6 @@
 #include "mpthreadport.h"
 
 #include "esp_task.h"
-#if !MICROPY_ESP_IDF_4
-#include "freertos/semphr.h"
-#endif
 
 #if MICROPY_PY_THREAD
 
diff --git a/ports/esp32/uart.c b/ports/esp32/uart.c
index 381be7f4f016c..c837c8dcfe6a4 100644
--- a/ports/esp32/uart.c
+++ b/ports/esp32/uart.c
@@ -29,6 +29,7 @@
 #include <stdio.h>
 
 #include "driver/uart.h"
+#include "soc/uart_periph.h"
 
 #include "py/runtime.h"
 #include "py/mphal.h"