diff --git a/components/esp_driver_i2c/i2c_master.c b/components/esp_driver_i2c/i2c_master.c
index 68fdd60cbe..771c74fce7 100644
--- a/components/esp_driver_i2c/i2c_master.c
+++ b/components/esp_driver_i2c/i2c_master.c
@@ -494,6 +494,13 @@ static void s_i2c_send_commands(i2c_master_bus_handle_t i2c_master, TickType_t t
     if (xQueueReceive(i2c_master->event_queue, &event, ticks_to_wait) == pdTRUE) {
         if (event == I2C_EVENT_DONE) {
             atomic_store(&i2c_master->status, I2C_STATUS_DONE);
+        } else if (event == I2C_EVENT_NACK) {
+            // For i2c nack detected, the i2c transaction not finish.
+            // start->address->nack->stop
+            // So wait the whole transaction finishes, then quit the function.
+            while (i2c_ll_is_bus_busy(hal->dev)) {
+                __asm__ __volatile__("nop");
+            }
         }
         s_i2c_err_log_print(event, i2c_master->bypass_nack_log);
     } else {
diff --git a/components/esp_driver_i2c/test_apps/.build-test-rules.yml b/components/esp_driver_i2c/test_apps/.build-test-rules.yml
index 45214c12ad..b363f05a99 100644
--- a/components/esp_driver_i2c/test_apps/.build-test-rules.yml
+++ b/components/esp_driver_i2c/test_apps/.build-test-rules.yml
@@ -3,10 +3,6 @@
 components/esp_driver_i2c/test_apps/i2c_test_apps:
   disable:
     - if: SOC_I2C_SUPPORTED != 1
-  disable_test:
-    - if: IDF_TARGET in ["esp32p4", "esp32c5"]
-      temporary: true
-      reason: lack of runners, c5 test failed  # TODO: [ESP32P4] IDF-8960, [ESP32C5] IDF-10332
   depends_components:
     - esp_driver_i2c
     # Following dependency is needed because they might increase lazy installed memory
diff --git a/components/esp_driver_i2c/test_apps/i2c_test_apps/pytest_i2c.py b/components/esp_driver_i2c/test_apps/i2c_test_apps/pytest_i2c.py
index 6365b4ca17..1a1fd6f08b 100644
--- a/components/esp_driver_i2c/test_apps/i2c_test_apps/pytest_i2c.py
+++ b/components/esp_driver_i2c/test_apps/i2c_test_apps/pytest_i2c.py
@@ -6,8 +6,6 @@ from pytest_embedded import Dut
 
 @pytest.mark.supported_targets
 @pytest.mark.generic
-# TODO: [ESP32P4] IDF-8960, [ESP32C5] IDF-10332
-@pytest.mark.temp_skip_ci(targets=['esp32p4', 'esp32c5'], reason='esp32p4 support TBD, c5 test failed')
 @pytest.mark.parametrize(
     'config',
     [