diff --git a/esp-lp-hal/CHANGELOG.md b/esp-lp-hal/CHANGELOG.md
index 2e99f20a31..19a444a222 100644
--- a/esp-lp-hal/CHANGELOG.md
+++ b/esp-lp-hal/CHANGELOG.md
@@ -12,6 +12,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 ### Changed
 
 - Bump MSRV to 1.84 (#2951)
+- Fix gpio `input_state` and `output_state` for the ESP32-S3 and ESP32-S2 (#3191)
 
 ### Fixed
 
diff --git a/esp-lp-hal/src/gpio.rs b/esp-lp-hal/src/gpio.rs
index 9a3bfe5f00..3cbf151190 100644
--- a/esp-lp-hal/src/gpio.rs
+++ b/esp-lp-hal/src/gpio.rs
@@ -39,7 +39,15 @@ pub struct Input<const PIN: u8>;
 impl<const PIN: u8> Input<PIN> {
     /// Read the input state/level of the pin.
     pub fn input_state(&self) -> bool {
-        (unsafe { &*LpIo::PTR }.in_().read().bits() >> PIN) & 0x1 != 0
+        cfg_if::cfg_if! {
+            if #[cfg(feature = "esp32c6")] {
+                (unsafe { &*LpIo::PTR }.in_().read().bits() >> PIN) & 0x1 != 0
+            } else if #[cfg(feature = "esp32s2")] {
+                (unsafe { &*LpIo::PTR }.in_().read().gpio_in_next().bits() >> PIN) & 0x1 != 0
+            } else if #[cfg(feature = "esp32s3")] {
+                (unsafe { &*LpIo::PTR }.in_().read().next().bits() >> PIN) & 0x1 != 0
+            }
+        }
     }
 }
 
@@ -49,7 +57,15 @@ pub struct Output<const PIN: u8>;
 impl<const PIN: u8> Output<PIN> {
     /// Read the output state/level of the pin.
     pub fn output_state(&self) -> bool {
-        (unsafe { &*LpIo::PTR }.out().read().bits() >> PIN) & 0x1 != 0
+        cfg_if::cfg_if! {
+            if #[cfg(feature = "esp32c6")] {
+                (unsafe { &*LpIo::PTR }.out().read().bits() >> PIN) & 0x1 != 0
+            } else if #[cfg(feature = "esp32s2")] {
+                (unsafe { &*LpIo::PTR }.out().read().gpio_out_data().bits() >> PIN) & 0x1 != 0
+            } else if #[cfg(feature = "esp32s3")] {
+                (unsafe { &*LpIo::PTR }.out().read().data().bits() >> PIN) & 0x1 != 0
+            }
+        }
     }
 
     /// Set the output state/level of the pin.