diff --git a/components/driver/i2c/i2c_master.c b/components/driver/i2c/i2c_master.c
index 4cbdfa55f8..09ab79a6e6 100644
--- a/components/driver/i2c/i2c_master.c
+++ b/components/driver/i2c/i2c_master.c
@@ -529,6 +529,13 @@ static void s_i2c_send_commands(i2c_master_bus_handle_t i2c_master, TickType_t t
     if (xQueueReceive(i2c_master->event_queue, &event, ticks_to_wait) == pdTRUE) {
         if (event == I2C_EVENT_DONE) {
             atomic_store(&i2c_master->status, I2C_STATUS_DONE);
+        } else if (event == I2C_EVENT_NACK) {
+            // For i2c nack detected, the i2c transaction not finish.
+            // start->address->nack->stop
+            // So wait the whole transaction finishes, then quit the function.
+            while (i2c_ll_is_bus_busy(hal->dev)) {
+                __asm__ __volatile__("nop");
+            }
         }
         s_i2c_err_log_print(event, i2c_master->bypass_nack_log);
     } else {
diff --git a/components/driver/test_apps/i2c_test_apps/main/test_i2c_multi.c b/components/driver/test_apps/i2c_test_apps/main/test_i2c_multi.c
index efadffacea..0f49791ad7 100644
--- a/components/driver/test_apps/i2c_test_apps/main/test_i2c_multi.c
+++ b/components/driver/test_apps/i2c_test_apps/main/test_i2c_multi.c
@@ -705,7 +705,7 @@ static void i2c_slave_read_test_more_port(void)
 TEST_CASE_MULTIPLE_DEVICES("I2C master write slave test, more ports", "[i2c][test_env=generic_multi_device][timeout=150]", i2c_master_write_test_more_port, i2c_slave_read_test_more_port);
 #endif
 
-#if 0 && (CONFIG_IDF_TARGET_ESP32C3 || CONFIG_IDF_TARGET_ESP32S3)
+#if (CONFIG_IDF_TARGET_ESP32C3 || CONFIG_IDF_TARGET_ESP32S3)
 // For now, we tested the chip which has such problem.
 // This test can be extended to all chip when how uart baud rate
 // works has been figured out.