diff --git a/sched/irq/irq_csection.c b/sched/irq/irq_csection.c
index 6993641fd2726..9eeb4b4c4aa0b 100644
--- a/sched/irq/irq_csection.c
+++ b/sched/irq/irq_csection.c
@@ -265,6 +265,7 @@ irqstate_t enter_critical_section(void)
                    * no longer blocked by the critical section).
                    */
 
+try_again_in_irq:
                   if (!irq_waitlock(cpu))
                     {
                       /* We are in a deadlock condition due to a pending
@@ -273,6 +274,24 @@ irqstate_t enter_critical_section(void)
                        */
 
                       DEBUGVERIFY(up_cpu_paused(cpu));
+
+                      /* NOTE: As the result of up_cpu_paused(cpu), this CPU
+                       * might set g_cpu_irqset in nxsched_resume_scheduler()
+                       * However, another CPU might hold g_cpu_irqlock.
+                       * To avoid this situation, releae g_cpu_irqlock first.
+                       */
+
+                      if ((g_cpu_irqset & (1 << cpu)) != 0)
+                        {
+                          spin_clrbit(&g_cpu_irqset, cpu, &g_cpu_irqsetlock,
+                                      &g_cpu_irqlock);
+                        }
+
+                      /* NOTE: Here, this CPU does not hold g_cpu_irqlock,
+                       * so call irq_waitlock(cpu) to acquire g_cpu_irqlock.
+                       */
+
+                      goto try_again_in_irq;
                     }
                 }