diff --git a/components/esp_driver_spi/src/gpspi/spi_master.c b/components/esp_driver_spi/src/gpspi/spi_master.c
index fc4b48ae44..55f99a90ec 100644
--- a/components/esp_driver_spi/src/gpspi/spi_master.c
+++ b/components/esp_driver_spi/src/gpspi/spi_master.c
@@ -1204,12 +1204,13 @@ static SPI_MASTER_ISR_ATTR esp_err_t setup_dma_priv_buffer(spi_host_t *host, uin
             alignment = MAX(host->dma_ctx->dma_align_rx_int, host->bus_attr->cache_align_int);
         }
     }
-    need_malloc |= (((uint32_t)buffer | len) & (alignment - 1));
+    // length also must be aligned if cache sync is required, otherwise don't need
+    need_malloc |= (use_psram || host->bus_attr->cache_align_int > 1) ? (((uint32_t)buffer | len) & (alignment - 1)) : (((uint32_t)buffer) & (alignment - 1));
     ESP_EARLY_LOGV(SPI_TAG, "%s %p, len %d, is_ptr_ext %d, use_psram: %d, alignment: %d, need_malloc: %d from %s", is_tx ? "TX" : "RX", buffer, len, is_ptr_ext, use_psram, alignment, need_malloc, (mem_cap & MALLOC_CAP_SPIRAM) ? "psram" : "internal");
+    uint32_t align_len = (len + alignment - 1) & (~(alignment - 1));   // up align alignment
     if (need_malloc) {
         ESP_RETURN_ON_FALSE_ISR(!(flags & SPI_TRANS_DMA_BUFFER_ALIGN_MANUAL), ESP_ERR_INVALID_ARG, SPI_TAG, "Set flag SPI_TRANS_DMA_BUFFER_ALIGN_MANUAL but %s addr&len not align to %d, or not dma_capable", is_tx ? "TX" : "RX", alignment);
-        len = (len + alignment - 1) & (~(alignment - 1));   // up align alignment
-        uint32_t *temp = heap_caps_aligned_alloc(alignment, len, mem_cap);
+        uint32_t *temp = heap_caps_aligned_alloc(alignment, align_len, mem_cap);
         ESP_RETURN_ON_FALSE_ISR(temp != NULL, ESP_ERR_NO_MEM, SPI_TAG, "Failed to allocate priv %s buffer", is_tx ? "TX" : "RX");
 
         if (is_tx) {
@@ -1219,7 +1220,8 @@ static SPI_MASTER_ISR_ATTR esp_err_t setup_dma_priv_buffer(spi_host_t *host, uin
     }
     *ret_buffer = buffer;
     if (use_psram || (host->bus_attr->cache_align_int > 1)) {
-        esp_err_t ret = esp_cache_msync((void *)buffer, len, is_tx ? (ESP_CACHE_MSYNC_FLAG_DIR_C2M | ESP_CACHE_MSYNC_FLAG_UNALIGNED) : ESP_CACHE_MSYNC_FLAG_DIR_M2C);
+        uint32_t sync_flags = is_tx ? (ESP_CACHE_MSYNC_FLAG_DIR_C2M | ESP_CACHE_MSYNC_FLAG_UNALIGNED) : ESP_CACHE_MSYNC_FLAG_DIR_M2C;
+        esp_err_t ret = esp_cache_msync((void *)buffer, need_malloc ? align_len : len, sync_flags);
         ESP_RETURN_ON_FALSE_ISR(ret == ESP_OK, ESP_ERR_INVALID_ARG, SPI_TAG, "sync failed for %s buffer", is_tx ? "TX" : "RX");
     }
     return ESP_OK;
diff --git a/components/esp_driver_spi/test_apps/master/main/test_spi_master.c b/components/esp_driver_spi/test_apps/master/main/test_spi_master.c
index 1200b6a220..37121abca3 100644
--- a/components/esp_driver_spi/test_apps/master/main/test_spi_master.c
+++ b/components/esp_driver_spi/test_apps/master/main/test_spi_master.c
@@ -137,7 +137,7 @@ TEST_CASE("SPI Master clockdiv calculation routines", "[spi]")
 
 // Test All clock source
 #define TEST_CLK_BYTE_LEN           10000
-#define TEST_TRANS_TIME_BIAS_RATIO  (float)8.0/100   // think 8% transfer time bias as acceptable
+#define TEST_TRANS_TIME_BIAS_RATIO  (float)10.0/100   // think 8% transfer time bias as acceptable
 TEST_CASE("SPI Master clk_source and divider accuracy", "[spi]")
 {
     int64_t start = 0, end = 0;
@@ -893,6 +893,37 @@ TEST_CASE("SPI Master DMA test: length, start, not aligned", "[spi]")
     TEST_ASSERT(spi_bus_free(TEST_SPI_HOST) == ESP_OK);
 }
 
+#if !SOC_CACHE_INTERNAL_MEM_VIA_L1CACHE // targets who need cache sync don't support unaligned trans
+TEST_CASE("SPI Master DMA manually unaligned RX test", "[spi]")
+{
+    spi_bus_config_t buscfg = SPI_BUS_TEST_DEFAULT_CONFIG();
+    buscfg.miso_io_num = buscfg.mosi_io_num;
+    TEST_ESP_OK(spi_bus_initialize(TEST_SPI_HOST, &buscfg, SPI_DMA_CH_AUTO));
+
+    spi_device_handle_t dev0;
+    spi_device_interface_config_t devcfg = SPI_DEVICE_TEST_DEFAULT_CONFIG();
+    TEST_ESP_OK(spi_bus_add_device(TEST_SPI_HOST, &devcfg, &dev0));
+
+    WORD_ALIGNED_ATTR uint8_t tx_data[8] = {0x11, 0x22, 0x33, 0x44, 0x55, 0x66, 0x77, 0x88};
+    WORD_ALIGNED_ATTR uint8_t rx_data[8] = {0xAA, 0xAA, 0xAA, 0xAA, 0xAA, 0xAA, 0xAA, 0xAA};
+    spi_transaction_t trans_cfg = {
+        .tx_buffer        = tx_data,
+        .rx_buffer        = rx_data,
+        .length           = 5 * 8,
+        .flags            = SPI_TRANS_DMA_BUFFER_ALIGN_MANUAL,
+    };
+    printf("Sending %d bytes\n", trans_cfg.length / 8);
+    TEST_ESP_OK(spi_device_transmit(dev0, &trans_cfg));
+    ESP_LOG_BUFFER_HEX("rx", rx_data, 8);
+#if !CONFIG_IDF_TARGET_ESP32 // esp32 dma not work with unaligned RX
+    TEST_ASSERT_EQUAL(rx_data[6], 0xAA);
+#endif
+
+    TEST_ESP_OK(spi_bus_remove_device(dev0));
+    TEST_ESP_OK(spi_bus_free(TEST_SPI_HOST));
+}
+#endif
+
 #if (TEST_SPI_PERIPH_NUM >= 2)
 //These will only be enabled on chips with 2 or more SPI peripherals
 
diff --git a/docs/en/api-reference/peripherals/spi_master.rst b/docs/en/api-reference/peripherals/spi_master.rst
index 91ea64ce44..c92765940c 100644
--- a/docs/en/api-reference/peripherals/spi_master.rst
+++ b/docs/en/api-reference/peripherals/spi_master.rst
@@ -852,6 +852,10 @@ Please note that the ISR is disabled during flash operation by default. To keep
 
     4. ``cs_ena_pretrans`` is not compatible with the Command and Address phases of full-duplex transactions.
 
+    .. only:: esp32
+
+        5. If DMA is enabled, the RX buffer should be word-aligned (starting from a 32-bit boundary and having a length of multiples of 4 bytes). Otherwise, DMA may overwrite the data in the unaligned part.
+
 
 Application Examples
 --------------------
diff --git a/docs/zh_CN/api-reference/peripherals/spi_master.rst b/docs/zh_CN/api-reference/peripherals/spi_master.rst
index c25ee7ed98..aebfc84232 100644
--- a/docs/zh_CN/api-reference/peripherals/spi_master.rst
+++ b/docs/zh_CN/api-reference/peripherals/spi_master.rst
@@ -852,6 +852,10 @@ GPSPI 外设的时钟源可以通过设置 :cpp:member:`spi_device_interface_con
 
     4. 全双工传输事务模式中，命令阶段和地址阶段与 ``cs_ena_pretrans`` 不兼容。
 
+    .. only:: esp32
+
+        5. 若启用了 DMA，则 RX 缓冲区应该以字对齐（从 32 位边界开始，字节长度为 4 的倍数）。否则 DMA 可能覆盖未对齐部分的数据。
+
 
 应用示例
 -------------------