diff --git a/hw/xtensa/esp32.c b/hw/xtensa/esp32.c
index 84c0d1a6cc..e0004700f1 100644
--- a/hw/xtensa/esp32.c
+++ b/hw/xtensa/esp32.c
@@ -184,6 +184,7 @@ static void esp32_soc_reset(DeviceState *dev)
         for (int i = 0; i < ESP32_I2C_COUNT; i++) {
             device_cold_reset(DEVICE(&s->i2c[i]));
         }
+        device_cold_reset(DEVICE(&s->twai));
         device_cold_reset(DEVICE(&s->efuse));
         if (s->eth) {
             device_cold_reset(s->eth);
@@ -477,6 +478,15 @@ static void esp32_soc_realize(DeviceState *dev, Error **errp)
                            qdev_get_gpio_in(intmatrix_dev, ETS_I2C_EXT0_INTR_SOURCE + i));
     }
 
+    /* TWAI model passes intmatrix IRQs to the SJA1000 controller model
+     * in realize function. That means that irq linking MUST be
+     * performed before realization of TWAI peripheral.
+     */
+    qdev_realize(DEVICE(&s->twai), &s->periph_bus, &error_fatal);
+    esp32_soc_add_periph_device(sys_mem, &s->twai, DR_REG_CAN_BASE); 
+    sysbus_connect_irq(SYS_BUS_DEVICE(&s->twai), 0,
+                       qdev_get_gpio_in(intmatrix_dev, ETS_CAN_INTR_SOURCE));
+
     qdev_realize(DEVICE(&s->rng), &s->periph_bus, &error_fatal);
     esp32_soc_add_periph_device(sys_mem, &s->rng, ESP32_RNG_BASE);
 
@@ -616,6 +626,8 @@ static void esp32_soc_init(Object *obj)
         object_initialize_child(obj, name, &s->i2c[i], TYPE_ESP32_I2C);
     }
 
+    object_initialize_child(obj, "twai", &s->twai, TYPE_ESP32_TWAI);
+
     object_initialize_child(obj, "rng", &s->rng, TYPE_ESP32_RNG);
 
     object_initialize_child(obj, "sha", &s->sha, TYPE_ESP32_SHA);
diff --git a/include/hw/xtensa/esp32.h b/include/hw/xtensa/esp32.h
index 4a84f5eebe..fc1f927652 100644
--- a/include/hw/xtensa/esp32.h
+++ b/include/hw/xtensa/esp32.h
@@ -21,6 +21,7 @@
 #include "hw/nvram/esp32_efuse.h"
 #include "hw/xtensa/esp32_intc.h"
 #include "hw/misc/esp32_flash_enc.h"
+#include "hw/net/can/esp32_twai.h"
 #include "hw/sd/dwc_sdmmc.h"
 #include "hw/display/esp_rgb.h"
 
@@ -33,6 +34,7 @@ typedef struct Esp32SocState {
     Esp32DportState dport;
     Esp32IntMatrixState intmatrix;
     Esp32CrosscoreInt crosscore_int;
+    Esp32TWAIState twai;
     ESP32UARTState uart[ESP32_UART_COUNT];
     Esp32GpioState gpio;
     Esp32RngState rng;