ESXi supports pass-through devices.
Though you cant pass through a single harddrive to a virtual machine, you can pass through the entire controller that it's connected to. (you cant if ESXi is installed to a drive or raid on this same controller).
So if you have a second controller, or the drive is USB, you can pass through this second controller or usb controller and attach it to the virtual machine directly. The VM will see the new hardware and attached devices as they are.
Go to your Host -> Configuration -> Advanced Settings (the one under the Hardware section)
Click on Configure Passthrough on the top right.
Select your device and push okay. (I believe a reboot of the ESXi host is required)
After that Right click on your Virtual Machine and go to Setttings
Click the Add button, select the PCI or USB device.
I think it should work. Havent tried it myself.