diff --git a/components/esp_http_server/include/esp_http_server.h b/components/esp_http_server/include/esp_http_server.h
index 759eadf85f6f..622d93fb72d4 100644
--- a/components/esp_http_server/include/esp_http_server.h
+++ b/components/esp_http_server/include/esp_http_server.h
@@ -569,7 +569,7 @@ typedef enum {
      */
     HTTPD_501_METHOD_NOT_IMPLEMENTED,
 
-    /* When HTTP version is not 1.1 */
+    /* When HTTP version is not 1.1 or 1.0*/
     HTTPD_505_VERSION_NOT_SUPPORTED,
 
     /* Returned when http_parser halts parsing due to incorrect
diff --git a/components/esp_http_server/src/httpd_parse.c b/components/esp_http_server/src/httpd_parse.c
index 2fbc37f3eb82..9cd2e26f0a61 100644
--- a/components/esp_http_server/src/httpd_parse.c
+++ b/components/esp_http_server/src/httpd_parse.c
@@ -85,8 +85,8 @@ static esp_err_t verify_url (http_parser *parser)
     strlcpy((char *)r->uri, at, (length + 1));
     ESP_LOGD(TAG, LOG_FMT("received URI = %s"), r->uri);
 
-    /* Make sure version is HTTP/1.1 */
-    if (!((parser->http_major == 1) && (parser->http_minor == 1))) {
+    /* Make sure version is HTTP/1.1 or HTTP/1.0 (legacy compliance purpose) */
+    if (!((parser->http_major == 1) && ((parser->http_minor == 0) || (parser->http_minor == 1)))) {
         ESP_LOGW(TAG, LOG_FMT("unsupported HTTP version = %d.%d"),
                  parser->http_major, parser->http_minor);
         parser_data->error = HTTPD_505_VERSION_NOT_SUPPORTED;