diff --git a/components/driver/twai/twai.c b/components/driver/twai/twai.c
index 98a2a755d1..ef179b604d 100644
--- a/components/driver/twai/twai.c
+++ b/components/driver/twai/twai.c
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2015-2024 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2015-2025 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -182,8 +182,10 @@ static inline void twai_handle_tx_buffer_frame(twai_obj_t *p_twai_obj, BaseType_
     p_twai_obj->tx_msg_count--;
     assert(p_twai_obj->tx_msg_count >= 0);      //Sanity check
 
-    //Check if there are more frames to transmit
-    if (p_twai_obj->tx_msg_count > 0 && p_twai_obj->tx_queue != NULL) {
+    //If not bus-off, check if there are more frames to transmit
+    if (!twai_hal_check_state_flags(&p_twai_obj->hal, TWAI_HAL_STATE_FLAG_BUS_OFF)
+            && p_twai_obj->tx_msg_count > 0
+            && p_twai_obj->tx_queue != NULL) {
         twai_hal_frame_t frame;
         int res = xQueueReceiveFromISR(p_twai_obj->tx_queue, &frame, task_woken);
         if (res == pdTRUE) {
diff --git a/components/hal/include/hal/twai_hal.h b/components/hal/include/hal/twai_hal.h
index 930b687cdc..60072c8528 100644
--- a/components/hal/include/hal/twai_hal.h
+++ b/components/hal/include/hal/twai_hal.h
@@ -141,6 +141,7 @@ void twai_hal_stop(twai_hal_context_t *hal_ctx);
  */
 static inline void twai_hal_start_bus_recovery(twai_hal_context_t *hal_ctx)
 {
+    TWAI_HAL_CLEAR_BITS(hal_ctx->state_flags, TWAI_HAL_STATE_FLAG_TX_BUFF_OCCUPIED);
     TWAI_HAL_SET_BITS(hal_ctx->state_flags, TWAI_HAL_STATE_FLAG_RECOVERING);
     twai_ll_exit_reset_mode(hal_ctx->dev);
 }
@@ -202,7 +203,7 @@ static inline bool twai_hal_check_last_tx_successful(twai_hal_context_t *hal_ctx
  * @param check_flags Bit mask of flags to check
  * @return True if one or more of the flags in check_flags are set
  */
-
+__attribute__((always_inline))
 static inline bool twai_hal_check_state_flags(twai_hal_context_t *hal_ctx, uint32_t check_flags)
 {
     return hal_ctx->state_flags & check_flags;
@@ -323,7 +324,7 @@ __attribute__((always_inline))
 static inline uint32_t twai_hal_clear_rx_fifo_overrun(twai_hal_context_t *hal_ctx)
 {
     uint32_t msg_cnt = 0;
-    //Note: Need to keep polling th rx message counter incase another message arrives whilst clearing
+    //Note: Need to keep polling th rx message counter in case another message arrives whilst clearing
     while (twai_ll_get_rx_msg_count(hal_ctx->dev) > 0) {
         twai_ll_set_cmd_release_rx_buffer(hal_ctx->dev);
         msg_cnt++;
@@ -347,7 +348,7 @@ static inline uint32_t twai_hal_clear_rx_fifo_overrun(twai_hal_context_t *hal_ct
  * - Checking if a reset will cancel a TX. If so, mark that we need to retry that message after the reset
  * - Save how many RX messages were lost due to this reset
  * - Enter reset mode to stop any the peripheral from receiving any bus activity
- * - Store the regsiter state of the peripheral
+ * - Store the register state of the peripheral
  *
  * @param hal_ctx Context of the HAL layer
  */