diff --git a/src/Gui/TaskView/TaskDialog.cpp b/src/Gui/TaskView/TaskDialog.cpp
index 5c784c602eef..75643b18371d 100644
--- a/src/Gui/TaskView/TaskDialog.cpp
+++ b/src/Gui/TaskView/TaskDialog.cpp
@@ -38,7 +38,7 @@ using namespace Gui::TaskView;
 //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 
 TaskDialog::TaskDialog()
-    : QObject(0), pos(North)
+    : QObject(0), pos(North), escapeButton(true)
 {
 
 }
diff --git a/src/Gui/TaskView/TaskDialog.h b/src/Gui/TaskView/TaskDialog.h
index 39cafc0f6ac4..e26bbc8fb86a 100644
--- a/src/Gui/TaskView/TaskDialog.h
+++ b/src/Gui/TaskView/TaskDialog.h
@@ -67,6 +67,14 @@ class GuiExport TaskDialog : public QObject
     virtual void modifyStandardButtons(QDialogButtonBox*)
     {}
 
+    /// Defines whether a task dialog can be rejected by pressing Esc
+    void setEscapeButtonEnabled(bool on) {
+        escapeButton = on;
+    }
+    bool isEscapeButtonEnabled() const {
+        return escapeButton;
+    }
+
     const std::string& getDocumentName() const
     { return documentName; }
     void setDocumentName(const std::string& doc)
@@ -118,6 +126,7 @@ class GuiExport TaskDialog : public QObject
 
 private:
     std::string documentName;
+    bool escapeButton;
 };
 
 } //namespace TaskView
diff --git a/src/Gui/TaskView/TaskView.cpp b/src/Gui/TaskView/TaskView.cpp
index 09c00650e6ef..8d9904bdf47a 100644
--- a/src/Gui/TaskView/TaskView.cpp
+++ b/src/Gui/TaskView/TaskView.cpp
@@ -477,7 +477,7 @@ void TaskView::keyPressEvent(QKeyEvent* ke)
                 }
             }
         }
-        else if (ke->key() == Qt::Key_Escape) {
+        else if (ke->key() == Qt::Key_Escape && ActiveDialog->isEscapeButtonEnabled()) {
             // get only the buttons of the button box
             QDialogButtonBox* box = ActiveCtrl->standardButtons();
             QList<QAbstractButton*> list = box->buttons();
diff --git a/src/Mod/Sketcher/Gui/SketcherSettings.cpp b/src/Mod/Sketcher/Gui/SketcherSettings.cpp
index 2b9bae2c831c..eb742b5fec43 100644
--- a/src/Mod/Sketcher/Gui/SketcherSettings.cpp
+++ b/src/Mod/Sketcher/Gui/SketcherSettings.cpp
@@ -70,6 +70,7 @@ void SketcherSettings::saveSettings()
     // Sketch editing
     ui->checkBoxAdvancedSolverTaskBox->onSave();
     ui->checkBoxRecalculateInitialSolutionWhileDragging->onSave();
+    ui->checkBoxEnableEscape->onSave();
     ui->checkBoxNotifyConstraintSubstitutions->onSave();
     form->saveSettings();
 }
@@ -79,6 +80,7 @@ void SketcherSettings::loadSettings()
     // Sketch editing
     ui->checkBoxAdvancedSolverTaskBox->onRestore();
     ui->checkBoxRecalculateInitialSolutionWhileDragging->onRestore();
+    ui->checkBoxEnableEscape->onRestore();
     ui->checkBoxNotifyConstraintSubstitutions->onRestore();
     form->loadSettings();
 }
diff --git a/src/Mod/Sketcher/Gui/SketcherSettings.ui b/src/Mod/Sketcher/Gui/SketcherSettings.ui
index 0247f18a4cda..f08bbf831980 100644
--- a/src/Mod/Sketcher/Gui/SketcherSettings.ui
+++ b/src/Mod/Sketcher/Gui/SketcherSettings.ui
@@ -106,9 +106,28 @@ Requires to re-enter edit mode to take effect.</string>
       </size>
      </property>
      <property name="title">
-      <string>Notifications</string>
+      <string>General</string>
      </property>
      <layout class="QVBoxLayout" name="verticalLayout_22">
+      <item>
+       <widget class="Gui::PrefCheckBox" name="checkBoxEnableEscape">
+        <property name="toolTip">
+         <string>Allow to leave sketch edit mode when pressing Esc button</string>
+        </property>
+        <property name="text">
+         <string>Esc can leave sketch edit mode</string>
+        </property>
+        <property name="checked">
+         <bool>true</bool>
+        </property>
+        <property name="prefEntry" stdset="0">
+         <cstring>LeaveSketchWithEscape</cstring>
+        </property>
+        <property name="prefPath" stdset="0">
+         <cstring>Mod/Sketcher</cstring>
+        </property>
+       </widget>
+      </item>
       <item>
        <widget class="Gui::PrefCheckBox" name="checkBoxNotifyConstraintSubstitutions">
         <property name="toolTip">
diff --git a/src/Mod/Sketcher/Gui/TaskDlgEditSketch.cpp b/src/Mod/Sketcher/Gui/TaskDlgEditSketch.cpp
index abfa954a2b71..06d0cb3c9954 100644
--- a/src/Mod/Sketcher/Gui/TaskDlgEditSketch.cpp
+++ b/src/Mod/Sketcher/Gui/TaskDlgEditSketch.cpp
@@ -50,6 +50,7 @@ TaskDlgEditSketch::TaskDlgEditSketch(ViewProviderSketch *sketchView)
     SolverAdvanced = new TaskSketcherSolverAdvanced(sketchView);
 
     ParameterGrp::handle hGrp = App::GetApplication().GetParameterGroupByPath("User parameter:BaseApp/Preferences/Mod/Sketcher");
+    setEscapeButtonEnabled(hGrp->GetBool("LeaveSketchWithEscape", true));
 
     Content.push_back(Messages);
 
diff --git a/src/Mod/Sketcher/Gui/ViewProviderSketch.cpp b/src/Mod/Sketcher/Gui/ViewProviderSketch.cpp
index a09b0c2df323..7f6c17c0acd6 100644
--- a/src/Mod/Sketcher/Gui/ViewProviderSketch.cpp
+++ b/src/Mod/Sketcher/Gui/ViewProviderSketch.cpp
@@ -204,6 +204,7 @@ struct EditData {
     DrawSketchHandler *sketchHandler;
     bool editDatumDialog;
     bool buttonPress;
+    bool handleEscapeButton;
 
     // dragged point
     int DragPoint;
@@ -486,6 +487,10 @@ bool ViewProviderSketch::keyPressed(bool pressed, int key)
                 if (!pressed && !edit->buttonPress)
                     return true;
                 edit->buttonPress = pressed;
+
+                // More control over Sketcher edit mode Esc key behavior
+                // https://forum.freecadweb.org/viewtopic.php?f=3&t=42207
+                return edit->handleEscapeButton;
             }
             return false;
         }
@@ -5651,6 +5656,9 @@ bool ViewProviderSketch::setEdit(int ModNum)
     ParameterGrp::handle hGrp = App::GetApplication().GetParameterGroupByPath("User parameter:BaseApp/Preferences/View");
     edit->MarkerSize = hGrp->GetInt("MarkerSize", 7);
 
+    ParameterGrp::handle hSketch = App::GetApplication().GetParameterGroupByPath("User parameter:BaseApp/Preferences/Mod/Sketcher");
+    edit->handleEscapeButton = !hSketch->GetBool("LeaveSketchWithEscape", true);
+
     createEditInventorNodes();
 
     auto editDoc = Gui::Application::Instance->editDocument();