diff --git a/components/esp32/include/esp_sleep.h b/components/esp32/include/esp_sleep.h
index a1d912b5e2..ead14f186e 100644
--- a/components/esp32/include/esp_sleep.h
+++ b/components/esp32/include/esp_sleep.h
@@ -286,6 +286,8 @@ esp_err_t esp_light_sleep_start(void);
  *
  * This function does not return.
  *
+ * @note The device will wake up immediately if the deep-sleep time is set to 0
+ *
  * @param time_in_us  deep-sleep time, unit: microsecond
  */
 void esp_deep_sleep(uint64_t time_in_us) __attribute__((noreturn));
diff --git a/components/esp32/sleep_modes.c b/components/esp32/sleep_modes.c
index efa23660d6..ea2152c00d 100644
--- a/components/esp32/sleep_modes.c
+++ b/components/esp32/sleep_modes.c
@@ -198,8 +198,7 @@ static uint32_t IRAM_ATTR esp_sleep_start(uint32_t pd_flags)
     rtc_sleep_init(config);
 
     // Configure timer wakeup
-    if ((s_config.wakeup_triggers & RTC_TIMER_TRIG_EN) &&
-        s_config.sleep_duration > 0) {
+    if (s_config.wakeup_triggers & RTC_TIMER_TRIG_EN) {
         timer_wakeup_prepare();
     }
 
diff --git a/components/esp32s2/include/esp_sleep.h b/components/esp32s2/include/esp_sleep.h
index 58d3f64209..ad87004fdf 100644
--- a/components/esp32s2/include/esp_sleep.h
+++ b/components/esp32s2/include/esp_sleep.h
@@ -297,6 +297,8 @@ esp_err_t esp_light_sleep_start(void);
  *
  * This function does not return.
  *
+ * @note The device will wake up immediately if the deep-sleep time is set to 0
+ *
  * @param time_in_us  deep-sleep time, unit: microsecond
  */
 void esp_deep_sleep(uint64_t time_in_us) __attribute__((noreturn));
diff --git a/components/esp32s2/sleep_modes.c b/components/esp32s2/sleep_modes.c
index b32b01dffb..cbd9a0f3a6 100644
--- a/components/esp32s2/sleep_modes.c
+++ b/components/esp32s2/sleep_modes.c
@@ -223,8 +223,7 @@ static uint32_t IRAM_ATTR esp_sleep_start(uint32_t pd_flags)
     rtc_sleep_init(config);
 
     // Configure timer wakeup
-    if ((s_config.wakeup_triggers & RTC_TIMER_TRIG_EN) &&
-        s_config.sleep_duration > 0) {
+    if (s_config.wakeup_triggers & RTC_TIMER_TRIG_EN) {
         timer_wakeup_prepare();
     }