diff --git a/components/bt/esp_ble_mesh/mesh_core/access.c b/components/bt/esp_ble_mesh/mesh_core/access.c
index dab417534..529cca1b3 100644
--- a/components/bt/esp_ble_mesh/mesh_core/access.c
+++ b/components/bt/esp_ble_mesh/mesh_core/access.c
@@ -427,6 +427,14 @@ static int publish_retransmit(struct bt_mesh_model *mod)
     return err;
 }
 
+static void publish_retransmit_end(int err, struct bt_mesh_model_pub *pub)
+{
+    /* Cancel all retransmits for this publish attempt */
+    pub->count = 0U;
+    /* Make sure the publish timer gets reset */
+    publish_sent(err, pub->mod);
+}
+
 static void mod_publish(struct k_work *work)
 {
     struct bt_mesh_model_pub *pub = CONTAINER_OF(work,
@@ -468,7 +476,10 @@ static void mod_publish(struct k_work *work)
      */
     err = pub->update(pub->mod);
     if (err) {
-        BT_ERR("%s, Failed to update publication message", __func__);
+        /* Cancel this publish attempt. */
+        BT_ERR("Update failed, skipping publish (err %d)", err);
+        pub->period_start = k_uptime_get_32();
+        publish_retransmit_end(err, pub);
         return;
     }
 
@@ -1079,10 +1090,7 @@ int bt_mesh_model_publish(struct bt_mesh_model *model)
 
     err = model_send(model, &tx, true, sdu, &pub_sent_cb, model);
     if (err) {
-        /* Don't try retransmissions for this publish attempt */
-        pub->count = 0U;
-        /* Make sure the publish timer gets reset */
-        publish_sent(err, model);
+        publish_retransmit_end(err, pub);
     }
 
     bt_mesh_free_buf(sdu);
diff --git a/components/bt/esp_ble_mesh/mesh_core/include/mesh_access.h b/components/bt/esp_ble_mesh/mesh_core/include/mesh_access.h
index 11a63b1d3..261056f60 100644
--- a/components/bt/esp_ble_mesh/mesh_core/include/mesh_access.h
+++ b/components/bt/esp_ble_mesh/mesh_core/include/mesh_access.h
@@ -367,6 +367,9 @@ struct bt_mesh_model_pub {
      *  @ref bt_mesh_model_pub.msg with a valid publication
      *  message.
      *
+     *  If the callback returns non-zero, the publication is skipped
+     *  and will resume on the next periodic publishing interval.
+     *
      *  @param mod The Model the Publication Context belogs to.
      *
      *  @return Zero on success or (negative) error code otherwise.