diff --git a/components/esp_driver_i2c/i2c_master.c b/components/esp_driver_i2c/i2c_master.c
index 51a1cc8fb5..61f24794ca 100644
--- a/components/esp_driver_i2c/i2c_master.c
+++ b/components/esp_driver_i2c/i2c_master.c
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2023-2024 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2023-2025 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -1134,6 +1134,13 @@ esp_err_t i2c_master_bus_rm_device(i2c_master_dev_handle_t handle)
 esp_err_t i2c_del_master_bus(i2c_master_bus_handle_t bus_handle)
 {
     ESP_LOGD(TAG, "del i2c bus(%d)", bus_handle->base->port_num);
+
+    // Check if the device list is empty
+    if (!SLIST_EMPTY(&bus_handle->device_list)) {
+        ESP_LOGE(TAG, "Cannot delete I2C bus(%d): devices are still attached, please remove all devices and then delete bus", bus_handle->base->port_num);
+        return ESP_ERR_INVALID_STATE;
+    }
+
     ESP_RETURN_ON_ERROR(i2c_master_bus_destroy(bus_handle), TAG, "destroy i2c bus failed");
     return ESP_OK;
 }
diff --git a/components/esp_driver_i2c/test_apps/i2c_test_apps/main/test_i2c_common.c b/components/esp_driver_i2c/test_apps/i2c_test_apps/main/test_i2c_common.c
index 53034af1bd..e7480fcd78 100644
--- a/components/esp_driver_i2c/test_apps/i2c_test_apps/main/test_i2c_common.c
+++ b/components/esp_driver_i2c/test_apps/i2c_test_apps/main/test_i2c_common.c
@@ -141,8 +141,9 @@ TEST_CASE("I2C device add & remove check", "[i2c]")
 
     i2c_master_bus_rm_device(dev_1);
     i2c_master_bus_rm_device(dev_2);
-    i2c_master_bus_rm_device(dev_3);
 
+    TEST_ESP_ERR(ESP_ERR_INVALID_STATE, i2c_del_master_bus(bus_handle));
+    i2c_master_bus_rm_device(dev_3);
     TEST_ESP_OK(i2c_del_master_bus(bus_handle));
 }
 
diff --git a/docs/en/api-reference/peripherals/i2c.rst b/docs/en/api-reference/peripherals/i2c.rst
index 88a9b70aa6..79fdc8d8f8 100644
--- a/docs/en/api-reference/peripherals/i2c.rst
+++ b/docs/en/api-reference/peripherals/i2c.rst
@@ -215,6 +215,8 @@ Uninstall I2C master bus and device
 
 If a previously installed I2C bus or device is no longer needed, it's recommended to recycle the resource by calling :cpp:func:`i2c_master_bus_rm_device` or :cpp:func:`i2c_del_master_bus`, so as to release the underlying hardware.
 
+Please note that removing all devices attached to bus before delete the master bus.
+
 Install I2C slave device
 ~~~~~~~~~~~~~~~~~~~~~~~~
 
diff --git a/docs/zh_CN/api-reference/peripherals/i2c.rst b/docs/zh_CN/api-reference/peripherals/i2c.rst
index d2f456837f..8efb05a9bd 100644
--- a/docs/zh_CN/api-reference/peripherals/i2c.rst
+++ b/docs/zh_CN/api-reference/peripherals/i2c.rst
@@ -216,6 +216,8 @@ I2C 主机设备需要 :cpp:type:`i2c_device_config_t` 指定的配置：
 
 如果不再需要之前安装的 I2C 总线或设备，建议调用 :cpp:func:`i2c_master_bus_rm_device` 或 :cpp:func:`i2c_del_master_bus` 来回收资源，以释放底层硬件。
 
+请注意在删除 I2C master 总线之前应当删除该总线上所有的设备。
+
 安装 I2C 从机设备
 ~~~~~~~~~~~~~~~~~~~