diff --git a/drivers/common/mlx5/mlx5_prm.h b/drivers/common/mlx5/mlx5_prm.h
index abff8e4dc3..6fa5553215 100644
--- a/drivers/common/mlx5/mlx5_prm.h
+++ b/drivers/common/mlx5/mlx5_prm.h
@@ -3608,7 +3608,8 @@ struct mlx5_ifc_stc_ste_param_insert_bits {
 	u8 action_type[0x4];
 	u8 encap[0x1];
 	u8 inline_data[0x1];
-	u8 reserved_at_6[0x4];
+	u8 push_esp[0x1];
+	u8 reserved_at_7[0x3];
 	u8 insert_anchor[0x6];
 	u8 reserved_at_10[0x1];
 	u8 insert_offset[0x7];
diff --git a/drivers/net/mlx5/hws/mlx5dr.h b/drivers/net/mlx5/hws/mlx5dr.h
index c11ec08616..78b16f3dc7 100644
--- a/drivers/net/mlx5/hws/mlx5dr.h
+++ b/drivers/net/mlx5/hws/mlx5dr.h
@@ -192,6 +192,10 @@ struct mlx5dr_action_insert_header {
 	 * requiring device to update offloaded fields (for example IPv4 total length).
 	 */
 	bool encap;
+	/* It must be set when adding ESP header.
+	 * It's also sets the next_protocol value in the ipsec trailer.
+	 */
+	bool push_esp;
 };
 
 enum mlx5dr_action_remove_header_type {
diff --git a/drivers/net/mlx5/hws/mlx5dr_action.c b/drivers/net/mlx5/hws/mlx5dr_action.c
index 8589de5557..f55069c675 100644
--- a/drivers/net/mlx5/hws/mlx5dr_action.c
+++ b/drivers/net/mlx5/hws/mlx5dr_action.c
@@ -598,6 +598,7 @@ static void mlx5dr_action_fill_stc_attr(struct mlx5dr_action *action,
 		attr->action_type = MLX5_IFC_STC_ACTION_TYPE_HEADER_INSERT;
 		attr->action_offset = MLX5DR_ACTION_OFFSET_DW6;
 		attr->insert_header.encap = action->reformat.encap;
+		attr->insert_header.push_esp = action->reformat.push_esp;
 		attr->insert_header.insert_anchor = action->reformat.anchor;
 		attr->insert_header.arg_id = action->reformat.arg_obj->id;
 		attr->insert_header.header_size = action->reformat.header_size;
@@ -635,6 +636,7 @@ static void mlx5dr_action_fill_stc_attr(struct mlx5dr_action *action,
 		attr->action_offset = MLX5DR_ACTION_OFFSET_DW6;
 		attr->reparse_mode = MLX5_IFC_STC_REPARSE_ALWAYS;
 		attr->insert_header.encap = 0;
+		attr->insert_header.push_esp = 0;
 		attr->insert_header.is_inline = 1;
 		attr->insert_header.insert_anchor = MLX5_HEADER_ANCHOR_PACKET_START;
 		attr->insert_header.insert_offset = MLX5DR_ACTION_HDR_LEN_L2_MACS;
@@ -1340,6 +1342,7 @@ mlx5dr_action_handle_insert_with_ptr(struct mlx5dr_action *action,
 			action[i].reformat.anchor = MLX5_HEADER_ANCHOR_PACKET_START;
 			action[i].reformat.offset = 0;
 			action[i].reformat.encap = 1;
+			action[i].reformat.push_esp = 0;
 		}
 
 		if (likely(reparse == MLX5DR_ACTION_STC_REPARSE_DEFAULT))
@@ -2087,6 +2090,7 @@ mlx5dr_action_create_insert_header_reparse(struct mlx5dr_context *ctx,
 
 		action[i].reformat.anchor = hdrs[i].anchor;
 		action[i].reformat.encap = hdrs[i].encap;
+		action[i].reformat.push_esp = hdrs[i].push_esp;
 		action[i].reformat.offset = hdrs[i].offset;
 		reformat_hdrs[i].sz = hdrs[i].hdr.sz;
 		reformat_hdrs[i].data = hdrs[i].hdr.data;
diff --git a/drivers/net/mlx5/hws/mlx5dr_action.h b/drivers/net/mlx5/hws/mlx5dr_action.h
index a8d9720c42..0c8e4bbb5a 100644
--- a/drivers/net/mlx5/hws/mlx5dr_action.h
+++ b/drivers/net/mlx5/hws/mlx5dr_action.h
@@ -149,6 +149,7 @@ struct mlx5dr_action {
 					uint8_t offset;
 					bool encap;
 					uint8_t require_reparse;
+					bool push_esp;
 				} reformat;
 				struct {
 					struct mlx5dr_action
diff --git a/drivers/net/mlx5/hws/mlx5dr_cmd.c b/drivers/net/mlx5/hws/mlx5dr_cmd.c
index 876a47147d..28d909df80 100644
--- a/drivers/net/mlx5/hws/mlx5dr_cmd.c
+++ b/drivers/net/mlx5/hws/mlx5dr_cmd.c
@@ -486,6 +486,8 @@ mlx5dr_cmd_stc_modify_set_stc_param(struct mlx5dr_cmd_stc_modify_attr *stc_attr,
 			 MLX5_MODIFICATION_TYPE_INSERT);
 		MLX5_SET(stc_ste_param_insert, stc_parm, encap,
 			 stc_attr->insert_header.encap);
+		MLX5_SET(stc_ste_param_insert, stc_parm, push_esp,
+			 stc_attr->insert_header.push_esp);
 		MLX5_SET(stc_ste_param_insert, stc_parm, inline_data,
 			 stc_attr->insert_header.is_inline);
 		MLX5_SET(stc_ste_param_insert, stc_parm, insert_anchor,
diff --git a/drivers/net/mlx5/hws/mlx5dr_cmd.h b/drivers/net/mlx5/hws/mlx5dr_cmd.h
index 18c2b07fc8..013a7e99e8 100644
--- a/drivers/net/mlx5/hws/mlx5dr_cmd.h
+++ b/drivers/net/mlx5/hws/mlx5dr_cmd.h
@@ -122,6 +122,7 @@ struct mlx5dr_cmd_stc_modify_attr {
 			uint8_t encap;
 			uint16_t insert_anchor;
 			uint16_t insert_offset;
+			uint8_t push_esp;
 		} insert_header;
 		struct {
 			uint8_t aso_type;
