diff --git a/components/mpu6050/CMakeLists.txt b/components/mpu6050/CMakeLists.txt
index 8ed961793..21aec67b7 100644
--- a/components/mpu6050/CMakeLists.txt
+++ b/components/mpu6050/CMakeLists.txt
@@ -1,5 +1,9 @@
+if("${IDF_VERSION_MAJOR}.${IDF_VERSION_MINOR}" VERSION_GREATER_EQUAL "5.3")
+    set(REQ esp_driver_gpio esp_driver_i2c)
+endif()
+
 idf_component_register(
     SRCS "mpu6050.c"
     INCLUDE_DIRS "include"
-    REQUIRES "driver"
+    REQUIRES driver ${REQ}
 )
diff --git a/components/mpu6050/idf_component.yml b/components/mpu6050/idf_component.yml
index 4d544f0d8..14bcd2066 100644
--- a/components/mpu6050/idf_component.yml
+++ b/components/mpu6050/idf_component.yml
@@ -1,4 +1,4 @@
-version: "1.2.0"
+version: "1.2.1"
 description: I2C driver for MPU6050 6-axis gyroscope and accelerometer
 url: https://github.com/espressif/esp-bsp/tree/master/components/mpu6050
 dependencies: