diff --git a/cores/esp32/esp32-hal-i2c.c b/cores/esp32/esp32-hal-i2c.c
index c4ec85e732c..f01b501a020 100644
--- a/cores/esp32/esp32-hal-i2c.c
+++ b/cores/esp32/esp32-hal-i2c.c
@@ -317,6 +317,8 @@ esp_err_t i2cSetClock(uint8_t i2c_num, uint32_t frequency){
         hal.dev = I2C_LL_GET_HW(i2c_num);
         i2c_hal_set_bus_timing(&(hal), frequency, src_clk);
         bus[i2c_num].frequency = frequency;
+        //Clock Stretching Timeout: 20b:esp32, 5b:esp32-c3, 24b:esp32-s2
+        i2c_set_timeout((i2c_port_t)i2c_num, I2C_LL_MAX_TIMEOUT);
     }
 
 end: