diff --git a/components/esp_hw_support/Kconfig b/components/esp_hw_support/Kconfig
index 97bafe7bc0f..a4cf5f94cd6 100644
--- a/components/esp_hw_support/Kconfig
+++ b/components/esp_hw_support/Kconfig
@@ -133,6 +133,18 @@ menu "Hardware Settings"
                 console after deep sleep reset, try increasing this value.
     endmenu
 
+    menu "ESP_SLEEP_WORKAROUND"
+        # No visible menu/configs for workaround
+        visible if 0
+        config ESP_SLEEP_SYSTIMER_STALL_WORKAROUND
+            bool "ESP32C3 SYSTIMER Stall Issue Workaround"
+            depends on IDF_TARGET_ESP32C3
+            help
+                Its not able to stall ESP32C3 systimer in sleep.
+                To fix related RTOS TICK issue, select it to disable related systimer during sleep.
+                TODO: IDF-7036
+    endmenu
+
     menu "RTC Clock Config"
         orsource "./port/$IDF_TARGET/Kconfig.rtc"
     endmenu
diff --git a/components/esp_hw_support/port/esp32c3/rtc_sleep.c b/components/esp_hw_support/port/esp32c3/rtc_sleep.c
index 8652c1ef6de..4cc34656596 100644
--- a/components/esp_hw_support/port/esp32c3/rtc_sleep.c
+++ b/components/esp_hw_support/port/esp32c3/rtc_sleep.c
@@ -23,6 +23,9 @@
 #include "soc/regi2c_dig_reg.h"
 #include "soc/regi2c_lp_bias.h"
 #include "hal/efuse_hal.h"
+#if CONFIG_ESP_SLEEP_SYSTIMER_STALL_WORKAROUND
+#include "soc/systimer_reg.h"
+#endif
 
 /**
  * Configure whether certain peripherals are powered down in deep sleep
@@ -194,6 +197,17 @@ void rtc_sleep_low_init(uint32_t slowclk_period)
     REG_SET_FIELD(RTC_CNTL_TIMER1_REG, RTC_CNTL_CK8M_WAIT, RTC_CNTL_CK8M_WAIT_SLP_CYCLES);
 }
 
+#if CONFIG_ESP_SLEEP_SYSTIMER_STALL_WORKAROUND
+void rtc_sleep_systimer_enable(bool en)
+{
+    if (en) {
+        REG_SET_BIT(SYSTIMER_CONF_REG, SYSTIMER_TIMER_UNIT1_WORK_EN);
+    } else {
+        REG_CLR_BIT(SYSTIMER_CONF_REG, SYSTIMER_TIMER_UNIT1_WORK_EN);
+    }
+}
+#endif
+
 static uint32_t rtc_sleep_finish(uint32_t lslp_mem_inf_fpu);
 
 uint32_t rtc_sleep_start(uint32_t wakeup_opt, uint32_t reject_opt, uint32_t lslp_mem_inf_fpu)
diff --git a/components/esp_hw_support/sleep_modes.c b/components/esp_hw_support/sleep_modes.c
index a0f0437b53a..37771ef0757 100644
--- a/components/esp_hw_support/sleep_modes.c
+++ b/components/esp_hw_support/sleep_modes.c
@@ -575,6 +575,12 @@ static uint32_t IRAM_ATTR esp_sleep_start(uint32_t pd_flags, esp_sleep_mode_t mo
         timer_wakeup_prepare();
     }
 
+#if CONFIG_ESP_SLEEP_SYSTIMER_STALL_WORKAROUND
+    if (!(pd_flags & RTC_SLEEP_PD_XTAL)) {
+        rtc_sleep_systimer_enable(false);
+    }
+#endif
+
     uint32_t result;
     if (deep_sleep) {
 #if !SOC_GPIO_SUPPORT_HOLD_SINGLE_IO_IN_DSLP
@@ -630,6 +636,12 @@ static uint32_t IRAM_ATTR esp_sleep_start(uint32_t pd_flags, esp_sleep_mode_t mo
 #endif
     }
 
+#if CONFIG_ESP_SLEEP_SYSTIMER_STALL_WORKAROUND
+    if (!(pd_flags & RTC_SLEEP_PD_XTAL)) {
+        rtc_sleep_systimer_enable(true);
+    }
+#endif
+
     // Restore CPU frequency
 #if SOC_PM_SUPPORT_PMU_MODEM_STATE
     if (pmu_sleep_pll_already_enabled()) {
diff --git a/components/freertos/Kconfig b/components/freertos/Kconfig
index ecfed18088b..65dcad70f2a 100644
--- a/components/freertos/Kconfig
+++ b/components/freertos/Kconfig
@@ -410,6 +410,7 @@ menu "FreeRTOS"
         config FREERTOS_SYSTICK_USES_SYSTIMER
             bool
             default y if FREERTOS_CORETIMER_SYSTIMER_LVL1 || FREERTOS_CORETIMER_SYSTIMER_LVL3
+            select ESP_SLEEP_SYSTIMER_STALL_WORKAROUND if IDF_TARGET_ESP32C3
 
         config FREERTOS_SYSTICK_USES_CCOUNT
             bool
diff --git a/components/soc/esp32c3/include/soc/rtc.h b/components/soc/esp32c3/include/soc/rtc.h
index 1db8df34850..0fa0a59482f 100644
--- a/components/soc/esp32c3/include/soc/rtc.h
+++ b/components/soc/esp32c3/include/soc/rtc.h
@@ -643,6 +643,18 @@ void rtc_sleep_init(rtc_sleep_config_t cfg);
  */
 void rtc_sleep_low_init(uint32_t slowclk_period);
 
+#if CONFIG_ESP_SLEEP_SYSTIMER_STALL_WORKAROUND
+/**
+ * @brief Configure systimer for esp32c3 systimer stall issue workaround
+ *
+ * This function configures related systimer for esp32c3 systimer stall issue.
+ * Only apply workaround when xtal powered up.
+ *
+ * @param en enable systimer or not
+ */
+void rtc_sleep_systimer_enable(bool en);
+#endif
+
 #define RTC_GPIO_TRIG_EN            BIT(2)  //!< GPIO wakeup
 #define RTC_TIMER_TRIG_EN           BIT(3)  //!< Timer wakeup
 #define RTC_WIFI_TRIG_EN            BIT(5)  //!< WIFI wakeup (light sleep only)