diff --git a/components/efuse/esp32c2/esp_efuse_fields.c b/components/efuse/esp32c2/esp_efuse_fields.c
index b40c635954..5f21fc9b65 100644
--- a/components/efuse/esp32c2/esp_efuse_fields.c
+++ b/components/efuse/esp32c2/esp_efuse_fields.c
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2017-2022 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2017-2025 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -46,8 +46,8 @@ esp_err_t esp_efuse_disable_rom_download_mode(void)
 
 esp_err_t esp_efuse_enable_rom_secure_download_mode(void)
 {
-    if (esp_efuse_read_field_bit(ESP_EFUSE_DIS_DOWNLOAD_MODE)) {
-        return ESP_ERR_INVALID_STATE;
+    if (!esp_efuse_read_field_bit(ESP_EFUSE_DIS_DOWNLOAD_MODE)) {
+        return esp_efuse_write_field_bit(ESP_EFUSE_ENABLE_SECURITY_DOWNLOAD);
     }
-    return esp_efuse_write_field_bit(ESP_EFUSE_ENABLE_SECURITY_DOWNLOAD);
+    return ESP_OK;
 }
diff --git a/components/efuse/esp32c3/esp_efuse_fields.c b/components/efuse/esp32c3/esp_efuse_fields.c
index b2765c7cd5..6e68229336 100644
--- a/components/efuse/esp32c3/esp_efuse_fields.c
+++ b/components/efuse/esp32c3/esp_efuse_fields.c
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2017-2021 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2017-2025 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -46,8 +46,8 @@ esp_err_t esp_efuse_disable_rom_download_mode(void)
 
 esp_err_t esp_efuse_enable_rom_secure_download_mode(void)
 {
-    if (esp_efuse_read_field_bit(ESP_EFUSE_DIS_DOWNLOAD_MODE)) {
-        return ESP_ERR_INVALID_STATE;
+    if (!esp_efuse_read_field_bit(ESP_EFUSE_DIS_DOWNLOAD_MODE)) {
+        return esp_efuse_write_field_bit(ESP_EFUSE_ENABLE_SECURITY_DOWNLOAD);
     }
-    return esp_efuse_write_field_bit(ESP_EFUSE_ENABLE_SECURITY_DOWNLOAD);
+    return ESP_OK;
 }
diff --git a/components/efuse/esp32c5/esp_efuse_fields.c b/components/efuse/esp32c5/esp_efuse_fields.c
index 853fbf5ae7..a3a97c8459 100644
--- a/components/efuse/esp32c5/esp_efuse_fields.c
+++ b/components/efuse/esp32c5/esp_efuse_fields.c
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2022-2024 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2022-2025 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -48,8 +48,8 @@ esp_err_t esp_efuse_disable_rom_download_mode(void)
 
 esp_err_t esp_efuse_enable_rom_secure_download_mode(void)
 {
-    if (esp_efuse_read_field_bit(ESP_EFUSE_DIS_DOWNLOAD_MODE)) {
-        return ESP_ERR_INVALID_STATE;
+    if (!esp_efuse_read_field_bit(ESP_EFUSE_DIS_DOWNLOAD_MODE)) {
+        return esp_efuse_write_field_bit(ESP_EFUSE_ENABLE_SECURITY_DOWNLOAD);
     }
-    return esp_efuse_write_field_bit(ESP_EFUSE_ENABLE_SECURITY_DOWNLOAD);
+    return ESP_OK;
 }
diff --git a/components/efuse/esp32c6/esp_efuse_fields.c b/components/efuse/esp32c6/esp_efuse_fields.c
index e15d9e7547..c4b3049f6d 100644
--- a/components/efuse/esp32c6/esp_efuse_fields.c
+++ b/components/efuse/esp32c6/esp_efuse_fields.c
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2022-2023 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2022-2025 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -46,8 +46,8 @@ esp_err_t esp_efuse_disable_rom_download_mode(void)
 
 esp_err_t esp_efuse_enable_rom_secure_download_mode(void)
 {
-    if (esp_efuse_read_field_bit(ESP_EFUSE_DIS_DOWNLOAD_MODE)) {
-        return ESP_ERR_INVALID_STATE;
+    if (!esp_efuse_read_field_bit(ESP_EFUSE_DIS_DOWNLOAD_MODE)) {
+        return esp_efuse_write_field_bit(ESP_EFUSE_ENABLE_SECURITY_DOWNLOAD);
     }
-    return esp_efuse_write_field_bit(ESP_EFUSE_ENABLE_SECURITY_DOWNLOAD);
+    return ESP_OK;
 }
diff --git a/components/efuse/esp32c61/esp_efuse_fields.c b/components/efuse/esp32c61/esp_efuse_fields.c
index 8d376b672f..2d97ae96ff 100644
--- a/components/efuse/esp32c61/esp_efuse_fields.c
+++ b/components/efuse/esp32c61/esp_efuse_fields.c
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2024 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2024-2025 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -48,8 +48,8 @@ esp_err_t esp_efuse_disable_rom_download_mode(void)
 
 esp_err_t esp_efuse_enable_rom_secure_download_mode(void)
 {
-    if (esp_efuse_read_field_bit(ESP_EFUSE_DIS_DOWNLOAD_MODE)) {
-        return ESP_ERR_INVALID_STATE;
+    if (!esp_efuse_read_field_bit(ESP_EFUSE_DIS_DOWNLOAD_MODE)) {
+        return esp_efuse_write_field_bit(ESP_EFUSE_ENABLE_SECURITY_DOWNLOAD);
     }
-    return esp_efuse_write_field_bit(ESP_EFUSE_ENABLE_SECURITY_DOWNLOAD);
+    return ESP_OK;
 }
diff --git a/components/efuse/esp32h2/esp_efuse_fields.c b/components/efuse/esp32h2/esp_efuse_fields.c
index e15d9e7547..c4b3049f6d 100644
--- a/components/efuse/esp32h2/esp_efuse_fields.c
+++ b/components/efuse/esp32h2/esp_efuse_fields.c
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2022-2023 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2022-2025 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -46,8 +46,8 @@ esp_err_t esp_efuse_disable_rom_download_mode(void)
 
 esp_err_t esp_efuse_enable_rom_secure_download_mode(void)
 {
-    if (esp_efuse_read_field_bit(ESP_EFUSE_DIS_DOWNLOAD_MODE)) {
-        return ESP_ERR_INVALID_STATE;
+    if (!esp_efuse_read_field_bit(ESP_EFUSE_DIS_DOWNLOAD_MODE)) {
+        return esp_efuse_write_field_bit(ESP_EFUSE_ENABLE_SECURITY_DOWNLOAD);
     }
-    return esp_efuse_write_field_bit(ESP_EFUSE_ENABLE_SECURITY_DOWNLOAD);
+    return ESP_OK;
 }
diff --git a/components/efuse/esp32p4/esp_efuse_fields.c b/components/efuse/esp32p4/esp_efuse_fields.c
index 5bb0023b07..74f6fe22c6 100644
--- a/components/efuse/esp32p4/esp_efuse_fields.c
+++ b/components/efuse/esp32p4/esp_efuse_fields.c
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2022-2023 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2022-2025 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -47,8 +47,8 @@ esp_err_t esp_efuse_disable_rom_download_mode(void)
 
 esp_err_t esp_efuse_enable_rom_secure_download_mode(void)
 {
-    if (esp_efuse_read_field_bit(ESP_EFUSE_DIS_DOWNLOAD_MODE)) {
-        return ESP_ERR_INVALID_STATE;
+    if (!esp_efuse_read_field_bit(ESP_EFUSE_DIS_DOWNLOAD_MODE)) {
+        return esp_efuse_write_field_bit(ESP_EFUSE_ENABLE_SECURITY_DOWNLOAD);
     }
-    return esp_efuse_write_field_bit(ESP_EFUSE_ENABLE_SECURITY_DOWNLOAD);
+    return ESP_OK;
 }
diff --git a/components/efuse/esp32s2/esp_efuse_fields.c b/components/efuse/esp32s2/esp_efuse_fields.c
index 618286882a..332c1c867e 100644
--- a/components/efuse/esp32s2/esp_efuse_fields.c
+++ b/components/efuse/esp32s2/esp_efuse_fields.c
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2017-2022 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2017-2025 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -45,8 +45,8 @@ esp_err_t esp_efuse_set_rom_log_scheme(esp_efuse_rom_log_scheme_t log_scheme)
 
 esp_err_t esp_efuse_enable_rom_secure_download_mode(void)
 {
-    if (esp_efuse_read_field_bit(ESP_EFUSE_DIS_DOWNLOAD_MODE)) {
-        return ESP_ERR_INVALID_STATE;
+    if (!esp_efuse_read_field_bit(ESP_EFUSE_DIS_DOWNLOAD_MODE)) {
+        return esp_efuse_write_field_bit(ESP_EFUSE_ENABLE_SECURITY_DOWNLOAD);
     }
-    return esp_efuse_write_field_bit(ESP_EFUSE_ENABLE_SECURITY_DOWNLOAD);
+    return ESP_OK;
 }
diff --git a/components/efuse/esp32s3/esp_efuse_fields.c b/components/efuse/esp32s3/esp_efuse_fields.c
index 22b16bd6ad..537ee28aad 100644
--- a/components/efuse/esp32s3/esp_efuse_fields.c
+++ b/components/efuse/esp32s3/esp_efuse_fields.c
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2017-2021 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2017-2025 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -45,8 +45,8 @@ esp_err_t esp_efuse_set_rom_log_scheme(esp_efuse_rom_log_scheme_t log_scheme)
 
 esp_err_t esp_efuse_enable_rom_secure_download_mode(void)
 {
-    if (esp_efuse_read_field_bit(ESP_EFUSE_DIS_DOWNLOAD_MODE)) {
-        return ESP_ERR_INVALID_STATE;
+    if (!esp_efuse_read_field_bit(ESP_EFUSE_DIS_DOWNLOAD_MODE)) {
+        return esp_efuse_write_field_bit(ESP_EFUSE_ENABLE_SECURITY_DOWNLOAD);
     }
-    return esp_efuse_write_field_bit(ESP_EFUSE_ENABLE_SECURITY_DOWNLOAD);
+    return ESP_OK;
 }
diff --git a/components/efuse/include/esp_efuse.h b/components/efuse/include/esp_efuse.h
index d18348fe47..fe864dbda9 100644
--- a/components/efuse/include/esp_efuse.h
+++ b/components/efuse/include/esp_efuse.h
@@ -351,11 +351,12 @@ esp_err_t esp_efuse_set_rom_log_scheme(esp_efuse_rom_log_scheme_t log_scheme);
  *
  * @note If Secure Download mode is already enabled, this function does nothing and returns success.
  *
- * @note Disabling the ROM Download Mode also disables Secure Download Mode.
+ * @note If UART DL mode is completely disabled then Secure Download mode can not be enabled
+ * and this API simply returns success.
  *
  * @return
- * - ESP_OK If the eFuse was successfully burned, or had already been burned.
- * - ESP_ERR_INVALID_STATE ROM Download Mode has been disabled via eFuse, so Secure Download mode is unavailable.
+ * - ESP_OK If the eFuse was successfully burned, or had already been burned, or UART DL mode is already disabled.
+ * - Other errors If an error occurred while burning ESP_EFUSE_ENABLE_SECURITY_DOWNLOAD.
  */
 esp_err_t esp_efuse_enable_rom_secure_download_mode(void);
 #endif