diff --git a/components/driver/i2c/i2c.c b/components/driver/i2c/i2c.c
index 675084966c..ce2b901551 100644
--- a/components/driver/i2c/i2c.c
+++ b/components/driver/i2c/i2c.c
@@ -1453,7 +1453,7 @@ static void IRAM_ATTR i2c_master_cmd_begin_static(i2c_port_t i2c_num, portBASE_T
         }
         p_i2c->cmd_idx++;
         p_i2c->cmd_link.head = p_i2c->cmd_link.head->next;
-        if (p_i2c->cmd_link.head == NULL || p_i2c->cmd_idx >= 15) {
+        if (p_i2c->cmd_link.head == NULL || p_i2c->cmd_idx >= (SOC_I2C_CMD_REG_NUM-1)) {
             p_i2c->cmd_idx = 0;
             break;
         }
diff --git a/components/soc/esp32/include/soc/Kconfig.soc_caps.in b/components/soc/esp32/include/soc/Kconfig.soc_caps.in
index 9d09a7062f..be2c009449 100644
--- a/components/soc/esp32/include/soc/Kconfig.soc_caps.in
+++ b/components/soc/esp32/include/soc/Kconfig.soc_caps.in
@@ -291,6 +291,10 @@ config SOC_I2C_FIFO_LEN
     int
     default 32
 
+config SOC_I2C_CMD_REG_NUM
+    int
+    default 16
+
 config SOC_I2C_SUPPORT_SLAVE
     bool
     default y
diff --git a/components/soc/esp32/include/soc/soc_caps.h b/components/soc/esp32/include/soc/soc_caps.h
index 6b884f2c0e..2e028cedc6 100644
--- a/components/soc/esp32/include/soc/soc_caps.h
+++ b/components/soc/esp32/include/soc/soc_caps.h
@@ -176,6 +176,7 @@
 #define SOC_I2C_NUM             (2)
 
 #define SOC_I2C_FIFO_LEN        (32) /*!< I2C hardware FIFO depth */
+#define SOC_I2C_CMD_REG_NUM     (16) /*!< Number of I2C command registers */
 #define SOC_I2C_SUPPORT_SLAVE   (1)
 
 #define SOC_I2C_SUPPORT_APB     (1)
diff --git a/components/soc/esp32c2/include/soc/Kconfig.soc_caps.in b/components/soc/esp32c2/include/soc/Kconfig.soc_caps.in
index f346c9d682..099095f901 100644
--- a/components/soc/esp32c2/include/soc/Kconfig.soc_caps.in
+++ b/components/soc/esp32c2/include/soc/Kconfig.soc_caps.in
@@ -267,6 +267,10 @@ config SOC_I2C_FIFO_LEN
     int
     default 16
 
+config SOC_I2C_CMD_REG_NUM
+    int
+    default 8
+
 config SOC_I2C_SUPPORT_HW_CLR_BUS
     bool
     default y
diff --git a/components/soc/esp32c2/include/soc/soc_caps.h b/components/soc/esp32c2/include/soc/soc_caps.h
index 285df0c5c9..b65323d251 100644
--- a/components/soc/esp32c2/include/soc/soc_caps.h
+++ b/components/soc/esp32c2/include/soc/soc_caps.h
@@ -134,6 +134,7 @@
 #define SOC_I2C_NUM                 (1U)
 
 #define SOC_I2C_FIFO_LEN            (16) /*!< I2C hardware FIFO depth */
+#define SOC_I2C_CMD_REG_NUM         (8)  /*!< Number of I2C command registers */
 
 // FSM_RST only resets the FSM, not using it. So SOC_I2C_SUPPORT_HW_FSM_RST not defined.
 #define SOC_I2C_SUPPORT_HW_CLR_BUS  (1)
diff --git a/components/soc/esp32c3/include/soc/Kconfig.soc_caps.in b/components/soc/esp32c3/include/soc/Kconfig.soc_caps.in
index 32d84fc6f3..b4a790a990 100644
--- a/components/soc/esp32c3/include/soc/Kconfig.soc_caps.in
+++ b/components/soc/esp32c3/include/soc/Kconfig.soc_caps.in
@@ -363,6 +363,10 @@ config SOC_I2C_FIFO_LEN
     int
     default 32
 
+config SOC_I2C_CMD_REG_NUM
+    int
+    default 8
+
 config SOC_I2C_SUPPORT_SLAVE
     bool
     default y
diff --git a/components/soc/esp32c3/include/soc/soc_caps.h b/components/soc/esp32c3/include/soc/soc_caps.h
index 0b59c80322..b98c7b357f 100644
--- a/components/soc/esp32c3/include/soc/soc_caps.h
+++ b/components/soc/esp32c3/include/soc/soc_caps.h
@@ -175,6 +175,7 @@
 #define SOC_I2C_NUM                 (1U)
 
 #define SOC_I2C_FIFO_LEN            (32) /*!< I2C hardware FIFO depth */
+#define SOC_I2C_CMD_REG_NUM         (8)  /*!< Number of I2C command registers */
 #define SOC_I2C_SUPPORT_SLAVE       (1)
 
 // FSM_RST only resets the FSM, not using it. So SOC_I2C_SUPPORT_HW_FSM_RST not defined.
diff --git a/components/soc/esp32c6/include/soc/Kconfig.soc_caps.in b/components/soc/esp32c6/include/soc/Kconfig.soc_caps.in
index 6c94bda2b3..0752f2e6cf 100644
--- a/components/soc/esp32c6/include/soc/Kconfig.soc_caps.in
+++ b/components/soc/esp32c6/include/soc/Kconfig.soc_caps.in
@@ -471,6 +471,10 @@ config SOC_I2C_FIFO_LEN
     int
     default 32
 
+config SOC_I2C_CMD_REG_NUM
+    int
+    default 8
+
 config SOC_I2C_SUPPORT_SLAVE
     bool
     default y
diff --git a/components/soc/esp32c6/include/soc/soc_caps.h b/components/soc/esp32c6/include/soc/soc_caps.h
index fb715701ba..7e33c01418 100644
--- a/components/soc/esp32c6/include/soc/soc_caps.h
+++ b/components/soc/esp32c6/include/soc/soc_caps.h
@@ -212,6 +212,7 @@
 #define SOC_I2C_NUM                 (1U)
 
 #define SOC_I2C_FIFO_LEN            (32) /*!< I2C hardware FIFO depth */
+#define SOC_I2C_CMD_REG_NUM         (8)  /*!< Number of I2C command registers */
 #define SOC_I2C_SUPPORT_SLAVE       (1)
 
 // FSM_RST only resets the FSM, not using it. So SOC_I2C_SUPPORT_HW_FSM_RST not defined.
diff --git a/components/soc/esp32h2/include/soc/Kconfig.soc_caps.in b/components/soc/esp32h2/include/soc/Kconfig.soc_caps.in
index 8986d415e6..f3315b7733 100644
--- a/components/soc/esp32h2/include/soc/Kconfig.soc_caps.in
+++ b/components/soc/esp32h2/include/soc/Kconfig.soc_caps.in
@@ -447,6 +447,10 @@ config SOC_I2C_FIFO_LEN
     int
     default 32
 
+config SOC_I2C_CMD_REG_NUM
+    int
+    default 8
+
 config SOC_I2C_SUPPORT_SLAVE
     bool
     default y
diff --git a/components/soc/esp32h2/include/soc/soc_caps.h b/components/soc/esp32h2/include/soc/soc_caps.h
index d92a570dc3..63385d3298 100644
--- a/components/soc/esp32h2/include/soc/soc_caps.h
+++ b/components/soc/esp32h2/include/soc/soc_caps.h
@@ -208,6 +208,7 @@
 #define SOC_I2C_NUM                 (2U)
 
 #define SOC_I2C_FIFO_LEN            (32) /*!< I2C hardware FIFO depth */
+#define SOC_I2C_CMD_REG_NUM         (8)  /*!< Number of I2C command registers */
 #define SOC_I2C_SUPPORT_SLAVE       (1)
 
 // FSM_RST only resets the FSM, not using it. So SOC_I2C_SUPPORT_HW_FSM_RST not defined.
diff --git a/components/soc/esp32s2/include/soc/Kconfig.soc_caps.in b/components/soc/esp32s2/include/soc/Kconfig.soc_caps.in
index 5749bc4223..40ff266115 100644
--- a/components/soc/esp32s2/include/soc/Kconfig.soc_caps.in
+++ b/components/soc/esp32s2/include/soc/Kconfig.soc_caps.in
@@ -367,6 +367,10 @@ config SOC_I2C_FIFO_LEN
     int
     default 32
 
+config SOC_I2C_CMD_REG_NUM
+    int
+    default 16
+
 config SOC_I2C_SUPPORT_SLAVE
     bool
     default y
diff --git a/components/soc/esp32s2/include/soc/soc_caps.h b/components/soc/esp32s2/include/soc/soc_caps.h
index 4a2cd91381..868c6502f0 100644
--- a/components/soc/esp32s2/include/soc/soc_caps.h
+++ b/components/soc/esp32s2/include/soc/soc_caps.h
@@ -174,6 +174,7 @@
 #define SOC_I2C_NUM            (2)
 
 #define SOC_I2C_FIFO_LEN       (32) /*!< I2C hardware FIFO depth */
+#define SOC_I2C_CMD_REG_NUM    (16) /*!< Number of I2C command registers */
 #define SOC_I2C_SUPPORT_SLAVE       (1)
 
 // FSM_RST only resets the FSM, not using it. So SOC_I2C_SUPPORT_HW_FSM_RST not defined.
diff --git a/components/soc/esp32s3/include/soc/Kconfig.soc_caps.in b/components/soc/esp32s3/include/soc/Kconfig.soc_caps.in
index 08e80cf6b7..7a15b35328 100644
--- a/components/soc/esp32s3/include/soc/Kconfig.soc_caps.in
+++ b/components/soc/esp32s3/include/soc/Kconfig.soc_caps.in
@@ -419,6 +419,10 @@ config SOC_I2C_FIFO_LEN
     int
     default 32
 
+config SOC_I2C_CMD_REG_NUM
+    int
+    default 8
+
 config SOC_I2C_SUPPORT_SLAVE
     bool
     default y
diff --git a/components/soc/esp32s3/include/soc/soc_caps.h b/components/soc/esp32s3/include/soc/soc_caps.h
index f6751fdf62..6530d757c7 100644
--- a/components/soc/esp32s3/include/soc/soc_caps.h
+++ b/components/soc/esp32s3/include/soc/soc_caps.h
@@ -177,6 +177,7 @@
 #define SOC_I2C_NUM            (2)
 
 #define SOC_I2C_FIFO_LEN       (32) /*!< I2C hardware FIFO depth */
+#define SOC_I2C_CMD_REG_NUM         (8)  /*!< Number of I2C command registers */
 #define SOC_I2C_SUPPORT_SLAVE       (1)
 
 // FSM_RST only resets the FSM, not using it. So SOC_I2C_SUPPORT_HW_FSM_RST not defined.