diff --git a/components/driver/gptimer/gptimer.c b/components/driver/gptimer/gptimer.c
index f9b5853eb0f1..f26e2a3dcfc0 100644
--- a/components/driver/gptimer/gptimer.c
+++ b/components/driver/gptimer/gptimer.c
@@ -108,8 +108,12 @@ esp_err_t gptimer_new_timer(const gptimer_config_t *config, gptimer_handle_t *re
 #endif
     esp_err_t ret = ESP_OK;
     gptimer_t *timer = NULL;
-    ESP_GOTO_ON_FALSE(config && ret_timer, ESP_ERR_INVALID_ARG, err, TAG, "invalid argument");
-    ESP_GOTO_ON_FALSE(config->resolution_hz, ESP_ERR_INVALID_ARG, err, TAG, "invalid timer resolution:%"PRIu32, config->resolution_hz);
+    ESP_RETURN_ON_FALSE(config && ret_timer, ESP_ERR_INVALID_ARG, TAG, "invalid argument");
+    ESP_RETURN_ON_FALSE(config->resolution_hz, ESP_ERR_INVALID_ARG, TAG, "invalid timer resolution:%"PRIu32, config->resolution_hz);
+    if (config->intr_priority) {
+        ESP_RETURN_ON_FALSE(1 << (config->intr_priority) & GPTIMER_ALLOW_INTR_PRIORITY_MASK, ESP_ERR_INVALID_ARG,
+                            TAG, "invalid interrupt priority:%d", config->intr_priority);
+    }
 
     timer = heap_caps_calloc(1, sizeof(gptimer_t), GPTIMER_MEM_ALLOC_CAPS);
     ESP_GOTO_ON_FALSE(timer, ESP_ERR_NO_MEM, err, TAG, "no mem for gptimer");
@@ -138,6 +142,7 @@ esp_err_t gptimer_new_timer(const gptimer_config_t *config, gptimer_handle_t *re
     // put the timer driver to the init state
     atomic_init(&timer->fsm, GPTIMER_FSM_INIT);
     timer->direction = config->direction;
+    timer->intr_priority = config->intr_priority;
     timer->flags.intr_shared = config->flags.intr_shared;
     ESP_LOGD(TAG, "new gptimer (%d,%d) at %p, resolution=%"PRIu32"Hz", group_id, timer_id, timer, timer->resolution_hz);
     *ret_timer = timer;
@@ -234,6 +239,9 @@ esp_err_t gptimer_register_event_callbacks(gptimer_handle_t timer, const gptimer
         ESP_RETURN_ON_FALSE(atomic_load(&timer->fsm) == GPTIMER_FSM_INIT, ESP_ERR_INVALID_STATE, TAG, "timer not in init state");
         // if user wants to control the interrupt allocation more precisely, we can expose more flags in `gptimer_config_t`
         int isr_flags = timer->flags.intr_shared ? ESP_INTR_FLAG_SHARED | GPTIMER_INTR_ALLOC_FLAGS : GPTIMER_INTR_ALLOC_FLAGS;
+        if (timer->intr_priority) {
+            isr_flags |= 1 << (timer->intr_priority);
+        }
         ESP_RETURN_ON_ERROR(esp_intr_alloc_intrstatus(timer_group_periph_signals.groups[group_id].timer_irq_id[timer_id], isr_flags,
                             (uint32_t)timer_ll_get_intr_status_reg(timer->hal.dev), TIMER_LL_EVENT_ALARM(timer_id),
                             gptimer_default_isr, timer, &timer->intr), TAG, "install interrupt service failed");
diff --git a/components/driver/gptimer/gptimer_priv.h b/components/driver/gptimer/gptimer_priv.h
index 56a23a8c101c..78428ce09cba 100644
--- a/components/driver/gptimer/gptimer_priv.h
+++ b/components/driver/gptimer/gptimer_priv.h
@@ -35,6 +35,8 @@ extern "C" {
 #define GPTIMER_INTR_ALLOC_FLAGS    ESP_INTR_FLAG_INTRDISABLED
 #endif
 
+#define GPTIMER_ALLOW_INTR_PRIORITY_MASK ESP_INTR_FLAG_LOWMED
+
 #define GPTIMER_PM_LOCK_NAME_LEN_MAX 16
 
 typedef struct gptimer_t gptimer_t;
@@ -62,6 +64,7 @@ struct gptimer_t {
     gptimer_count_direction_t direction;
     timer_hal_context_t hal;
     _Atomic gptimer_fsm_t fsm;
+    int intr_priority;
     intr_handle_t intr;
     portMUX_TYPE spinlock; // to protect per-timer resources concurrent accessed by task and ISR handler
     gptimer_alarm_cb_t on_alarm;
diff --git a/components/driver/gptimer/include/driver/gptimer.h b/components/driver/gptimer/include/driver/gptimer.h
index c407e65af446..e17e20d7b4a5 100644
--- a/components/driver/gptimer/include/driver/gptimer.h
+++ b/components/driver/gptimer/include/driver/gptimer.h
@@ -24,6 +24,8 @@ typedef struct {
     gptimer_count_direction_t direction; /*!< Count direction */
     uint32_t resolution_hz;              /*!< Counter resolution (working frequency) in Hz,
                                               hence, the step size of each count tick equals to (1 / resolution_hz) seconds */
+    int intr_priority;                   /*!< GPTimer interrupt priority,
+                                              if set to 0, the driver will try to allocate an interrupt with a relative low priority (1,2,3) */
     struct {
         uint32_t intr_shared: 1;         /*!< Set true, the timer interrupt number can be shared with other peripherals */
     } flags;                             /*!< GPTimer config flags*/
diff --git a/components/driver/test_apps/gptimer/main/test_gptimer.c b/components/driver/test_apps/gptimer/main/test_gptimer.c
index 576b3013db72..539f50f17f15 100644
--- a/components/driver/test_apps/gptimer/main/test_gptimer.c
+++ b/components/driver/test_apps/gptimer/main/test_gptimer.c
@@ -283,7 +283,6 @@ TEST_CASE("gptimer_auto_reload_on_alarm", "[gptimer]")
     }
 }
 
-
 TEST_ALARM_CALLBACK_ATTR static bool test_gptimer_alarm_normal_callback(gptimer_handle_t timer, const gptimer_alarm_event_data_t *edata, void *user_data)
 {
     TaskHandle_t task_handle = (TaskHandle_t)user_data;
@@ -316,6 +315,7 @@ TEST_CASE("gptimer_one_shot_alarm", "[gptimer]")
     };
     gptimer_handle_t timers[SOC_TIMER_GROUP_TOTAL_TIMERS];
     for (int i = 0; i < SOC_TIMER_GROUP_TOTAL_TIMERS; i++) {
+        timer_config.intr_priority = i % 3 + 1; // test different priorities
         TEST_ESP_OK(gptimer_new_timer(&timer_config, &timers[i]));
     }
 
diff --git a/docs/en/api-reference/peripherals/gptimer.rst b/docs/en/api-reference/peripherals/gptimer.rst
index 0967eada6bdb..68ed5a8a371b 100644
--- a/docs/en/api-reference/peripherals/gptimer.rst
+++ b/docs/en/api-reference/peripherals/gptimer.rst
@@ -48,6 +48,8 @@ To install a timer instance, there is a configuration structure that needs to be
 
 -  :cpp:member:`gptimer_config_t::resolution_hz` sets the resolution of the internal counter. Each count step is equivalent to **1 / resolution_hz** seconds.
 
+-  :cpp:member:`gptimer_config::intr_priority` sets the priority of the timer interrupt. If it is set to ``0``, the driver will allocate an interrupt with a default priority. Otherwise, the driver will use the given priority.
+
 -  Optional :cpp:member:`gptimer_config_t::intr_shared` sets whether or not mark the timer interrupt source as a shared one. For the pros/cons of a shared interrupt, you can refer to :doc:`Interrupt Handling <../../api-reference/system/intr_alloc>`.
 
 With all the above configurations set in the structure, the structure can be passed to :cpp:func:`gptimer_new_timer` which will instantiate the timer instance and return a handle of the timer.
diff --git a/docs/zh_CN/api-reference/peripherals/gptimer.rst b/docs/zh_CN/api-reference/peripherals/gptimer.rst
index 3da073819942..0b833782a19b 100644
--- a/docs/zh_CN/api-reference/peripherals/gptimer.rst
+++ b/docs/zh_CN/api-reference/peripherals/gptimer.rst
@@ -48,6 +48,8 @@
 
 -  :cpp:member:`gptimer_config_t::resolution_hz` 设置内部计数器的分辨率。计数器每滴答一次相当于 **1 / resolution_hz** 秒。
 
+-  :cpp:member:`gptimer_config::intr_priority` 设置中断的优先级。如果设置为 ``0``，则会分配一个默认优先级的中断，否则会使用指定的优先级。
+
 -  选用 :cpp:member:`gptimer_config_t::intr_shared` 设置是否将定时器中断源标记为共享源。了解共享中断的优缺点，请参考 :doc:`Interrupt Handling <../../api-reference/system/intr_alloc>`。
 
 完成上述结构配置之后，可以将结构传递给 :cpp:func:`gptimer_new_timer`，用以实例化定时器实例并返回定时器句柄。