diff --git a/hw/riscv/esp32c3.c b/hw/riscv/esp32c3.c
index 1007640670..ed698fbb67 100644
--- a/hw/riscv/esp32c3.c
+++ b/hw/riscv/esp32c3.c
@@ -49,6 +49,7 @@
 #include "hw/misc/esp32c3_jtag.h"
 #include "hw/dma/esp32c3_gdma.h"
 #include "hw/display/esp_rgb.h"
+#include "hw/net/can/esp32c3_twai.h"
 
 #define ESP32C3_IO_WARNING          0
 
@@ -88,6 +89,7 @@ struct Esp32C3MachineState {
     ESP32C3RtcCntlState rtccntl;
     ESP32C3UsbJtagState jtag;
     ESPRgbState rgb;
+    Esp32C3TWAIState twai;
 };
 
 /* Fake register used by ESP-IDF application to determine whether the code is running on real hardware or on QEMU */
@@ -421,6 +423,7 @@ static void esp32c3_machine_init(MachineState *machine)
     object_initialize_child(OBJECT(machine), "rtccntl", &ms->rtccntl, TYPE_ESP32C3_RTC_CNTL);
     object_initialize_child(OBJECT(machine), "jtag", &ms->jtag, TYPE_ESP32C3_JTAG);
     object_initialize_child(OBJECT(machine), "rgb", &ms->rgb, TYPE_ESP_RGB);
+    object_initialize_child(OBJECT(machine), "twai", &ms->twai, TYPE_ESP32C3_TWAI);
 
     /* Realize all the I/O peripherals we depend on */
 
@@ -646,6 +649,13 @@ static void esp32c3_machine_init(MachineState *machine)
         memory_region_add_subregion_overlap(sys_mem, DR_REG_FRAMEBUF_BASE, mr, 0);
         memory_region_add_subregion_overlap(sys_mem, esp32c3_memmap[ESP32C3_MEMREGION_FRAMEBUF].base, &ms->rgb.vram, 0);
     }
+
+    /* TWAI peripheral realization */
+    sysbus_realize(SYS_BUS_DEVICE(&ms->twai), &error_fatal);
+    MemoryRegion *twai_mr = sysbus_mmio_get_region(SYS_BUS_DEVICE(&ms->twai), 0);
+    memory_region_add_subregion_overlap(sys_mem, DR_REG_TWAI_BASE, twai_mr, 0);
+    sysbus_connect_irq(SYS_BUS_DEVICE(&ms->twai), 0,
+                       qdev_get_gpio_in(DEVICE(&ms->intmatrix), ETS_TWAI_INTR_SOURCE));
 }