diff --git a/ports/esp32/mphalport.c b/ports/esp32/mphalport.c
index e795b5c991..6e6fd26ef4 100644
--- a/ports/esp32/mphalport.c
+++ b/ports/esp32/mphalport.c
@@ -142,14 +142,22 @@ void mp_hal_delay_ms(uint32_t ms) {
     uint64_t dt;
     uint64_t t0 = esp_timer_get_time();
     for (;;) {
+        mp_handle_pending(true);
+        MICROPY_PY_USOCKET_EVENTS_HANDLER
+        MP_THREAD_GIL_EXIT();
         uint64_t t1 = esp_timer_get_time();
         dt = t1 - t0;
         if (dt + portTICK_PERIOD_MS * 1000 >= us) {
             // doing a vTaskDelay would take us beyond requested delay time
+            taskYIELD();
+            MP_THREAD_GIL_ENTER();
+            t1 = esp_timer_get_time();
+            dt = t1 - t0;
             break;
+        } else {
+            ulTaskNotifyTake(pdFALSE, 1);
+            MP_THREAD_GIL_ENTER();
         }
-        MICROPY_EVENT_POLL_HOOK
-        ulTaskNotifyTake(pdFALSE, 1);
     }
     if (dt < us) {
         // do the remaining delay accurately