diff --git a/components/pthread/pthread.c b/components/pthread/pthread.c
index ef87e8f22..55d90978f 100644
--- a/components/pthread/pthread.c
+++ b/components/pthread/pthread.c
@@ -591,12 +591,15 @@ int pthread_mutex_destroy(pthread_mutex_t *mutex)
         return EBUSY;
     }
 
-    // FreeRTOS mutex must not be deleted while taken (breaks priority inheritance):
-    vTaskSuspendAll();
-    pthread_mutex_unlock(mutex);
+    if (mux->type == PTHREAD_MUTEX_RECURSIVE) {
+        res = xSemaphoreGiveRecursive(mux->sem);
+    } else {
+        res = xSemaphoreGive(mux->sem);
+    }
+    if (res != pdTRUE) {
+        assert(false && "Failed to release mutex!");
+    }
     vSemaphoreDelete(mux->sem);
-    xTaskResumeAll();
-
     free(mux);
 
     return 0;