diff --git a/components/esp_pm/test_apps/esp_pm/main/CMakeLists.txt b/components/esp_pm/test_apps/esp_pm/main/CMakeLists.txt
index 8f23c7c057..fdc9988244 100644
--- a/components/esp_pm/test_apps/esp_pm/main/CMakeLists.txt
+++ b/components/esp_pm/test_apps/esp_pm/main/CMakeLists.txt
@@ -1,6 +1,10 @@
 set(sources "test_app_main.c"
             "test_pm.c")
 
+if(CONFIG_SOC_CPU_HAS_FPU AND CONFIG_IDF_TARGET_ARCH_RISCV AND CONFIG_SOC_PM_FPU_RETENTION_BY_SW)
+    list(APPEND sources "test_fpu_retention.c")
+endif()
+
 # In order for the cases defined by `TEST_CASE` to be linked into the final elf,
 # the component must be registered as a WHOLE_ARCHIVE
 idf_component_register(SRCS ${sources}
diff --git a/components/esp_pm/test_apps/esp_pm/main/test_fpu_retention.c b/components/esp_pm/test_apps/esp_pm/main/test_fpu_retention.c
new file mode 100644
index 0000000000..cebac2f0b5
--- /dev/null
+++ b/components/esp_pm/test_apps/esp_pm/main/test_fpu_retention.c
@@ -0,0 +1,105 @@
+/*
+ * SPDX-FileCopyrightText: 2026 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include "sdkconfig.h"
+
+#include <math.h>
+#include <stdio.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "unity.h"
+#include "esp_private/esp_clk.h"
+#include "esp_pm.h"
+#include "esp_task.h"
+#include "soc/soc_caps.h"
+
+#define MHZ (1000 * 1000)
+#define FP_EPS            1e-5f
+#define FP_CTX_ITERATIONS 20
+#define TEST_TASKS        4
+
+/* Context Switch Test */
+
+static struct {
+    int fail_count;
+    SemaphoreHandle_t done;
+    float seed;
+} s_fp_ctx[TEST_TASKS];
+
+static void fp_context_task(void *arg)
+{
+    vTaskDelay(2);
+    int idx = (int)(intptr_t)arg;
+    volatile float seed = s_fp_ctx[idx].seed;
+
+    for (int i = 0; i < FP_CTX_ITERATIONS; i++) {
+        volatile float v0 = seed * 6.789f;
+        vTaskDelay(10);
+        volatile float v1 =  v0 + 8.987f;
+        vTaskDelay(10);
+        volatile float v2 = v1 * v1;
+        vTaskDelay(10);
+        volatile float v3 = sqrt(v2);
+        vTaskDelay(10);
+        volatile float v4 = v3 - 8.987f;
+        vTaskDelay(10);
+        volatile float result = v4 / 6.789f;
+        if (fabsf(result - seed) > FP_EPS) {
+            s_fp_ctx[idx].fail_count++;
+        }
+    }
+    xSemaphoreGive(s_fp_ctx[idx].done);
+    vTaskDelete(NULL);
+}
+
+TEST_CASE("Test PD_CPU lightsleep preserves FP registers", "[rv_fp]")
+{
+#if CONFIG_PM_ENABLE
+    int cur_freq_mhz = esp_clk_cpu_freq() / MHZ;
+    int xtal_freq = esp_clk_xtal_freq() / MHZ;
+
+    esp_pm_config_t pm_config = {
+        .max_freq_mhz = cur_freq_mhz,
+        .min_freq_mhz = xtal_freq,
+        .light_sleep_enable = true
+    };
+    ESP_ERROR_CHECK( esp_pm_configure(&pm_config) );
+#endif
+
+    const float seeds = 3.1415926f;
+    SemaphoreHandle_t sem = xSemaphoreCreateCounting(TEST_TASKS, 0);
+    TEST_ASSERT_NOT_NULL(sem);
+
+    for (int i = 0; i < TEST_TASKS; i++) {
+        s_fp_ctx[i].fail_count = 0;
+        s_fp_ctx[i].done = sem;
+        s_fp_ctx[i].seed = seeds * i;
+        TEST_ASSERT_EQUAL(pdPASS, xTaskCreatePinnedToCore(
+            fp_context_task, "fp", 4096, (void*)(intptr_t)i,
+            ESP_TASK_MAIN_PRIO, NULL, i % CONFIG_FREERTOS_NUMBER_OF_CORES));
+    }
+
+    for (int i = 0; i < TEST_TASKS; i++) {
+        TEST_ASSERT_TRUE(xSemaphoreTake(sem, pdMS_TO_TICKS(20000)));
+    }
+    vSemaphoreDelete(sem);
+
+    int total = 0;
+    for (int i = 0; i < TEST_TASKS; i++) {
+        total += s_fp_ctx[i].fail_count;
+    }
+    TEST_ASSERT_EQUAL_MESSAGE(0, total, "FPU context corruption detected");
+    printf("FPU context retention test passed\n");
+
+#if CONFIG_PM_ENABLE
+    // Disable lightsleep and DFS
+    pm_config.min_freq_mhz = cur_freq_mhz;
+    pm_config.light_sleep_enable = false;
+    ESP_ERROR_CHECK( esp_pm_configure(&pm_config) );
+#endif
+}