diff --git a/components/esp32/esp_timer_esp32.c b/components/esp32/esp_timer_esp32.c
index 37981a2e4..68b84f561 100644
--- a/components/esp32/esp_timer_esp32.c
+++ b/components/esp32/esp_timer_esp32.c
@@ -211,7 +211,7 @@ uint64_t IRAM_ATTR esp_timer_impl_get_time(void)
 
 void IRAM_ATTR esp_timer_impl_set_alarm(uint64_t timestamp)
 {
-    portENTER_CRITICAL(&s_time_update_lock);
+    portENTER_CRITICAL_SAFE(&s_time_update_lock);
     // Use calculated alarm value if it is less than ALARM_OVERFLOW_VAL.
     // Note that if by the time we update ALARM_REG, COUNT_REG value is higher,
     // interrupt will not happen for another ALARM_OVERFLOW_VAL timer ticks,
@@ -237,7 +237,7 @@ void IRAM_ATTR esp_timer_impl_set_alarm(uint64_t timestamp)
         }
         REG_WRITE(FRC_TIMER_ALARM_REG(1), alarm_reg_val);
     } while (REG_READ(FRC_TIMER_ALARM_REG(1)) <= REG_READ(FRC_TIMER_COUNT_REG(1)));
-    portEXIT_CRITICAL(&s_time_update_lock);
+    portEXIT_CRITICAL_SAFE(&s_time_update_lock);
 }
 
 static void IRAM_ATTR timer_alarm_isr(void *arg)
diff --git a/components/esp32/test/test_esp_timer.c b/components/esp32/test/test_esp_timer.c
index 4512f42b8..e50a2f177 100644
--- a/components/esp32/test/test_esp_timer.c
+++ b/components/esp32/test/test_esp_timer.c
@@ -11,6 +11,7 @@
 #include "freertos/semphr.h"
 #include "test_utils.h"
 #include "esp_private/esp_timer_impl.h"
+#include "esp_freertos_hooks.h"
 
 #ifdef CONFIG_ESP_TIMER_PROFILING
 #define WITH_PROFILING 1
@@ -650,6 +651,43 @@ TEST_CASE("after esp_timer_impl_advance, timers run when expected", "[esp_timer]
     ref_clock_deinit();
 }
 
+static esp_timer_handle_t timer1;
+static SemaphoreHandle_t sem;
+static void IRAM_ATTR test_tick_hook(void)
+{
+    static int i;
+    const int iterations = 16;
+
+    if (++i <= iterations) {
+        if (i & 0x1) {
+            TEST_ESP_OK(esp_timer_start_once(timer1, 5000));
+        } else {
+            TEST_ESP_OK(esp_timer_stop(timer1));
+        }
+    } else {
+        xSemaphoreGiveFromISR(sem, 0);
+    }
+}
+
+TEST_CASE("Can start/stop timer from ISR context", "[esp_timer]")
+{
+    void timer_func(void* arg)
+    {
+        printf("timer cb\n");
+    }
+
+    esp_timer_create_args_t create_args = {
+        .callback = &timer_func,
+    };
+    TEST_ESP_OK(esp_timer_create(&create_args, &timer1));
+    sem = xSemaphoreCreateBinary();
+    esp_register_freertos_tick_hook(test_tick_hook);
+    TEST_ASSERT(xSemaphoreTake(sem, portMAX_DELAY));
+    esp_deregister_freertos_tick_hook(test_tick_hook);
+    TEST_ESP_OK( esp_timer_delete(timer1) );
+    vSemaphoreDelete(sem);
+}
+
 #if !defined(CONFIG_FREERTOS_UNICORE) && defined(CONFIG_ESP32_DPORT_WORKAROUND)
 
 #include "soc/dport_reg.h"
diff --git a/components/esp32s2beta/esp_timer_esp32s2beta.c b/components/esp32s2beta/esp_timer_esp32s2beta.c
index ff01cfe70..82be232e7 100644
--- a/components/esp32s2beta/esp_timer_esp32s2beta.c
+++ b/components/esp32s2beta/esp_timer_esp32s2beta.c
@@ -222,7 +222,7 @@ uint64_t IRAM_ATTR esp_timer_impl_get_time(void)
 
 void IRAM_ATTR esp_timer_impl_set_alarm(uint64_t timestamp)
 {
-    portENTER_CRITICAL(&s_time_update_lock);
+    portENTER_CRITICAL_SAFE(&s_time_update_lock);
     // Alarm time relative to the moment when counter was 0
     uint64_t time_after_timebase_us = timestamp - s_time_base_us;
     // Adjust current time if overflow has happened
@@ -252,7 +252,7 @@ void IRAM_ATTR esp_timer_impl_set_alarm(uint64_t timestamp)
         alarm_reg_val = (uint32_t) compare_val;
     }
     REG_WRITE(FRC_TIMER_ALARM_REG(1), alarm_reg_val);
-    portEXIT_CRITICAL(&s_time_update_lock);
+    portEXIT_CRITICAL_SAFE(&s_time_update_lock);
 }
 
 static void IRAM_ATTR timer_alarm_isr(void *arg)
diff --git a/components/esp_common/src/esp_timer.c b/components/esp_common/src/esp_timer.c
index 8a343e34d..b24976b9c 100644
--- a/components/esp_common/src/esp_timer.c
+++ b/components/esp_common/src/esp_timer.c
@@ -264,12 +264,12 @@ static IRAM_ATTR bool timer_armed(esp_timer_handle_t timer)
 
 static IRAM_ATTR void timer_list_lock(void)
 {
-    portENTER_CRITICAL(&s_timer_lock);
+    portENTER_CRITICAL_SAFE(&s_timer_lock);
 }
 
 static IRAM_ATTR void timer_list_unlock(void)
 {
-    portEXIT_CRITICAL(&s_timer_lock);
+    portEXIT_CRITICAL_SAFE(&s_timer_lock);
 }
 
 static void timer_process_alarm(esp_timer_dispatch_t dispatch_method)