diff --git a/components/freertos/CMakeLists.txt b/components/freertos/CMakeLists.txt
index b62e1125967..78a8e4ae4ef 100644
--- a/components/freertos/CMakeLists.txt
+++ b/components/freertos/CMakeLists.txt
@@ -140,7 +140,12 @@ idf_component_register(SRCS "${srcs}"
                     PRIV_REQUIRES soc esp_pm)
 
 idf_component_get_property(COMPONENT_DIR freertos COMPONENT_DIR)
-idf_component_set_property(freertos ORIG_INCLUDE_PATH "${COMPONENT_DIR}/include/freertos/")
+
+if(CONFIG_FREERTOS_SMP)
+    idf_component_set_property(freertos ORIG_INCLUDE_PATH "${COMPONENT_DIR}/FreeRTOS-Kernel-SMP/include/freertos/")
+else()
+    idf_component_set_property(freertos ORIG_INCLUDE_PATH "${COMPONENT_DIR}/FreeRTOS-Kernel/include/freertos/")
+endif()
 
 if(CONFIG_FREERTOS_DEBUG_OCDAWARE)
     target_link_libraries(${COMPONENT_LIB} INTERFACE "-Wl,--undefined=uxTopUsedPriority") #will be removed
diff --git a/components/freertos/test_apps/.build-test-rules.yml b/components/freertos/test_apps/.build-test-rules.yml
new file mode 100644
index 00000000000..8a0214c0a6f
--- /dev/null
+++ b/components/freertos/test_apps/.build-test-rules.yml
@@ -0,0 +1,6 @@
+# Documentation: .gitlab/ci/README.md#manifest-file-to-control-the-buildtest-apps
+
+components/freertos/test_apps/orig_inc_path:
+  enable:
+    - if: IDF_TARGET in ["esp32"]
+      reason: The feature only depends on the build system, nothing target-specific that needs to be tested
diff --git a/components/freertos/test_apps/orig_inc_path/CMakeLists.txt b/components/freertos/test_apps/orig_inc_path/CMakeLists.txt
new file mode 100644
index 00000000000..1ddfb866ada
--- /dev/null
+++ b/components/freertos/test_apps/orig_inc_path/CMakeLists.txt
@@ -0,0 +1,6 @@
+# The following lines of boilerplate have to be in your project's
+# CMakeLists in this exact order for cmake to work correctly
+cmake_minimum_required(VERSION 3.16)
+
+include($ENV{IDF_PATH}/tools/cmake/project.cmake)
+project(test_freertos_orig_inc_path)
diff --git a/components/freertos/test_apps/orig_inc_path/README.md b/components/freertos/test_apps/orig_inc_path/README.md
new file mode 100644
index 00000000000..f708a1985a3
--- /dev/null
+++ b/components/freertos/test_apps/orig_inc_path/README.md
@@ -0,0 +1,2 @@
+| Supported Targets | ESP32 |
+| ----------------- | ----- |
diff --git a/components/freertos/test_apps/orig_inc_path/main/CMakeLists.txt b/components/freertos/test_apps/orig_inc_path/main/CMakeLists.txt
new file mode 100644
index 00000000000..5b80b256eef
--- /dev/null
+++ b/components/freertos/test_apps/orig_inc_path/main/CMakeLists.txt
@@ -0,0 +1,6 @@
+idf_component_register(SRCS "test_main.c"
+                       INCLUDE_DIRS ".")
+
+# Update include path to not include the directory, i.e. "task.h" instead of "freertos/task.h"
+idf_component_get_property(FREERTOS_ORIG_INCLUDE_PATH freertos ORIG_INCLUDE_PATH)
+target_include_directories(${COMPONENT_TARGET} PRIVATE "${FREERTOS_ORIG_INCLUDE_PATH}")
diff --git a/components/freertos/test_apps/orig_inc_path/main/test_main.c b/components/freertos/test_apps/orig_inc_path/main/test_main.c
new file mode 100644
index 00000000000..a597b1b3b84
--- /dev/null
+++ b/components/freertos/test_apps/orig_inc_path/main/test_main.c
@@ -0,0 +1,13 @@
+/*
+ * SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+/* Check that freeRTOS headers can be included without the 'freertos/' directory path prefix */
+#include "FreeRTOS.h"
+#include "task.h"
+
+void app_main(void)
+{
+}
diff --git a/components/freertos/test_apps/orig_inc_path/sdkconfig.ci.default b/components/freertos/test_apps/orig_inc_path/sdkconfig.ci.default
new file mode 100644
index 00000000000..e69de29bb2d
diff --git a/components/freertos/test_apps/orig_inc_path/sdkconfig.ci.freertos_smp b/components/freertos/test_apps/orig_inc_path/sdkconfig.ci.freertos_smp
new file mode 100644
index 00000000000..08f988b14ae
--- /dev/null
+++ b/components/freertos/test_apps/orig_inc_path/sdkconfig.ci.freertos_smp
@@ -0,0 +1 @@
+CONFIG_FREERTOS_SMP=y