diff --git a/docs/esp32/quickref.rst b/docs/esp32/quickref.rst
index dd7e515f1b22..894508f4c200 100644
--- a/docs/esp32/quickref.rst
+++ b/docs/esp32/quickref.rst
@@ -562,6 +562,23 @@ deep-sleep if pad hold is enabled with the ``hold=True`` argument to
 ``Pin.init()``.
 
 Non-RTC GPIO pins will be disconnected by default on entering deep-sleep.
+Configuration of non-RTC pins - including output level - can be retained by
+enabling pad hold on the pin and enabling GPIO pad hold during deep-sleep::
+
+    from machine import Pin, deepsleep
+    import esp32
+
+    opin = Pin(19, Pin.OUT, value=1, hold=True) # hold output level
+    ipin = Pin(21, Pin.IN, Pin.PULL_UP, hold=True) # hold pull-up
+
+    # enable pad hold in deep-sleep for non-RTC GPIO
+    esp32.gpio_deep_sleep_hold(True)
+
+    # put the device to sleep for 10 seconds
+    deepsleep(10000)
+
+The pin configuration - including the pad hold - will be retained on wake from
+sleep. See :ref:`Pins_and_GPIO` above for a further discussion of pad holding.
 
 SD card
 -------
diff --git a/docs/library/esp32.rst b/docs/library/esp32.rst
index da5fa8c3cbed..334800349978 100644
--- a/docs/library/esp32.rst
+++ b/docs/library/esp32.rst
@@ -30,6 +30,11 @@ Functions
     or a tuple/list of valid Pin objects.  *level* should be ``esp32.WAKEUP_ALL_LOW``
     or ``esp32.WAKEUP_ANY_HIGH``.
 
+.. function:: gpio_deep_sleep_hold(enable)
+
+    Configure whether non-RTC GPIO pin configuration is retained during
+    deep-sleep mode for held pads. *enable* should be a boolean value.
+
 .. function:: raw_temperature()
 
     Read the raw value of the internal temperature sensor, returning an integer.
diff --git a/ports/esp32/modesp32.c b/ports/esp32/modesp32.c
index 75e5b3ed8b5a..4579c5de1158 100644
--- a/ports/esp32/modesp32.c
+++ b/ports/esp32/modesp32.c
@@ -131,6 +131,16 @@ STATIC mp_obj_t esp32_wake_on_ext1(size_t n_args, const mp_obj_t *pos_args, mp_m
 }
 STATIC MP_DEFINE_CONST_FUN_OBJ_KW(esp32_wake_on_ext1_obj, 0, esp32_wake_on_ext1);
 
+STATIC mp_obj_t esp32_gpio_deep_sleep_hold(const mp_obj_t enable) {
+    if (mp_obj_is_true(enable)) {
+        gpio_deep_sleep_hold_en();
+    } else {
+        gpio_deep_sleep_hold_dis();
+    }
+    return mp_const_none;
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(esp32_gpio_deep_sleep_hold_obj, esp32_gpio_deep_sleep_hold);
+
 #if CONFIG_IDF_TARGET_ESP32
 
 #include "soc/sens_reg.h"
@@ -187,6 +197,7 @@ STATIC const mp_rom_map_elem_t esp32_module_globals_table[] = {
     { MP_ROM_QSTR(MP_QSTR_wake_on_touch), MP_ROM_PTR(&esp32_wake_on_touch_obj) },
     { MP_ROM_QSTR(MP_QSTR_wake_on_ext0), MP_ROM_PTR(&esp32_wake_on_ext0_obj) },
     { MP_ROM_QSTR(MP_QSTR_wake_on_ext1), MP_ROM_PTR(&esp32_wake_on_ext1_obj) },
+    { MP_ROM_QSTR(MP_QSTR_gpio_deep_sleep_hold), MP_ROM_PTR(&esp32_gpio_deep_sleep_hold_obj) },
     #if CONFIG_IDF_TARGET_ESP32
     { MP_ROM_QSTR(MP_QSTR_raw_temperature), MP_ROM_PTR(&esp32_raw_temperature_obj) },
     { MP_ROM_QSTR(MP_QSTR_hall_sensor), MP_ROM_PTR(&esp32_hall_sensor_obj) },