diff --git a/components/bt/esp_ble_mesh/Kconfig.in b/components/bt/esp_ble_mesh/Kconfig.in
index 521d7a03ae2..91b41fc23f3 100644
--- a/components/bt/esp_ble_mesh/Kconfig.in
+++ b/components/bt/esp_ble_mesh/Kconfig.in
@@ -585,6 +585,21 @@ if BLE_MESH
             stored to flash. E.g. the default value of 4 means that the
             state is saved every 24 hours (96 / 4).
 
+    config BLE_MESH_IVU_RECOVERY_IVI
+        bool "Recovery the IV index when the latest whole IV update procedure is missed"
+        default n
+        help
+            According to Section 3.10.5 of Mesh Specification v1.0.1.
+            If a node in Normal Operation receives a Secure Network beacon with an IV index
+            equal to the last known IV index+1 and the IV Update Flag set to 0, the node may
+            update its IV without going to the IV Update in Progress state, or it may initiate
+            an IV Index Recovery procedure (Section 3.10.6), or it may ignore the Secure
+            Network beacon. The node makes the choice depending on the time since last IV
+            update and the likelihood that the node has missed the Secure Network beacons
+            with the IV update Flag.
+            When the above situation is encountered, this option can be used to decide whether
+            to perform the IV index recovery procedure.
+
     config BLE_MESH_TX_SEG_MSG_COUNT
         int "Maximum number of simultaneous outgoing segmented messages"
         default 1
diff --git a/components/bt/esp_ble_mesh/mesh_core/net.c b/components/bt/esp_ble_mesh/mesh_core/net.c
index 40520f2e05f..26adf5ce3fc 100644
--- a/components/bt/esp_ble_mesh/mesh_core/net.c
+++ b/components/bt/esp_ble_mesh/mesh_core/net.c
@@ -673,7 +673,11 @@ bool bt_mesh_net_iv_update(uint32_t iv_index, bool iv_update)
             return false;
         }
 
-        if (iv_index > bt_mesh.iv_index + 1) {
+        if ((iv_index > bt_mesh.iv_index + 1)
+#if CONFIG_BLE_MESH_IVU_RECOVERY_IVI
+            || (iv_index == bt_mesh.iv_index + 1 && !iv_update)
+#endif
+            ) {
             BT_WARN("Performing IV Index Recovery");
             (void)memset(bt_mesh.rpl, 0, sizeof(bt_mesh.rpl));
             bt_mesh.iv_index = iv_index;
@@ -681,10 +685,12 @@ bool bt_mesh_net_iv_update(uint32_t iv_index, bool iv_update)
             goto do_update;
         }
 
+#if !CONFIG_BLE_MESH_IVU_RECOVERY_IVI
         if (iv_index == bt_mesh.iv_index + 1 && !iv_update) {
             BT_WARN("Ignoring new index in normal mode");
             return false;
         }
+#endif
 
         if (!iv_update) {
             /* Nothing to do */