diff --git a/components/esp32/esp_timer.c b/components/esp32/esp_timer.c
index 9fd8f72fe..6987b4c64 100644
--- a/components/esp32/esp_timer.c
+++ b/components/esp32/esp_timer.c
@@ -75,12 +75,14 @@ static LIST_HEAD(esp_timer_list, esp_timer) s_timers =
 // all the timers
 static LIST_HEAD(esp_inactive_timer_list, esp_timer) s_inactive_timers =
         LIST_HEAD_INITIALIZER(s_timers);
+// used to keep track of the timer when executing the callback
+static esp_timer_handle_t s_timer_in_callback;
 #endif
 // task used to dispatch timer callbacks
 static TaskHandle_t s_timer_task;
 // counting semaphore used to notify the timer task from ISR
 static SemaphoreHandle_t s_timer_semaphore;
-// lock protecting s_timers and s_inactive_timers
+// lock protecting s_timers, s_inactive_timers, s_timer_in_callback
 static portMUX_TYPE s_timer_lock = portMUX_INITIALIZER_UNLOCKED;
 
 
@@ -149,6 +151,9 @@ esp_err_t esp_timer_delete(esp_timer_handle_t timer)
         return ESP_ERR_INVALID_STATE;
     }
 #if WITH_PROFILING
+    if (timer == s_timer_in_callback) {
+        s_timer_in_callback = NULL;
+    }
     timer_remove_inactive(timer);
 #endif
     if (timer == NULL) {
@@ -266,14 +271,21 @@ static void timer_process_alarm(esp_timer_dispatch_t dispatch_method)
         }
 #if WITH_PROFILING
         uint64_t callback_start = now;
+        s_timer_in_callback = it;
 #endif
         timer_list_unlock();
         (*it->callback)(it->arg);
         timer_list_lock();
         now = esp_timer_impl_get_time();
 #if WITH_PROFILING
-        it->times_triggered++;
-        it->total_callback_run_time += now - callback_start;
+        /* The callback might have deleted the timer.
+         * If this happens, esp_timer_delete will set s_timer_in_callback
+         * to NULL.
+         */
+        if (s_timer_in_callback) {
+            s_timer_in_callback->times_triggered++;
+            s_timer_in_callback->total_callback_run_time += now - callback_start;
+        }
 #endif
         it = LIST_FIRST(&s_timers);
     }
diff --git a/components/esp32/test/test_esp_timer.c b/components/esp32/test/test_esp_timer.c
index 08fdb15dc..d77ddeb5e 100644
--- a/components/esp32/test/test_esp_timer.c
+++ b/components/esp32/test/test_esp_timer.c
@@ -4,6 +4,7 @@
 #include <sys/time.h>
 #include "unity.h"
 #include "esp_timer.h"
+#include "esp_heap_caps.h"
 #include "freertos/FreeRTOS.h"
 #include "freertos/task.h"
 #include "freertos/semphr.h"
@@ -379,3 +380,37 @@ TEST_CASE("Can dump esp_timer stats", "[esp_timer]")
 {
     esp_timer_dump(stdout);
 }
+
+TEST_CASE("Can delete timer from callback", "[esp_timer]")
+{
+    typedef struct {
+        SemaphoreHandle_t notify_from_timer_cb;
+        esp_timer_handle_t timer;
+    } test_arg_t;
+
+    void timer_func(void* varg)
+    {
+        test_arg_t arg = *(test_arg_t*) varg;
+        esp_timer_delete(arg.timer);
+        printf("Timer %p is deleted\n", arg.timer);
+        xSemaphoreGive(arg.notify_from_timer_cb);
+    }
+
+    test_arg_t args = {
+            .notify_from_timer_cb = xSemaphoreCreateBinary(),
+    };
+
+    esp_timer_create_args_t timer_args = {
+            .callback = &timer_func,
+            .arg = &args,
+            .name = "self_deleter"
+    };
+    esp_timer_create(&timer_args, &args.timer);
+    esp_timer_start_once(args.timer, 10000);
+
+    TEST_ASSERT_TRUE(xSemaphoreTake(args.notify_from_timer_cb, 1000 / portTICK_PERIOD_MS));
+    printf("Checking heap at %p\n", args.timer);
+    TEST_ASSERT_TRUE(heap_caps_check_integrity_addr((intptr_t) args.timer, true));
+
+    vSemaphoreDelete(args.notify_from_timer_cb);
+}