diff --git a/core/sme/src/csr/csr_api_roam.c b/core/sme/src/csr/csr_api_roam.c
index fe733222d1fe..08b144bac72f 100644
--- a/core/sme/src/csr/csr_api_roam.c
+++ b/core/sme/src/csr/csr_api_roam.c
@@ -16771,8 +16771,24 @@ csr_issue_del_sta_for_session_req(tpAniSirGlobal pMac, uint32_t sessionId,
 {
 	struct del_sta_self_params *del_sta_self_req;
 	struct scheduler_msg msg = {0};
+	tp_wma_handle wma_handle = cds_get_context(QDF_MODULE_ID_WMA);
 	tSirRetStatus status;
 
+	if (!wma_handle) {
+		sme_err("wma handle is NULL");
+		return QDF_STATUS_E_INVAL;
+	}
+
+	/* Need to wait for all peer delete command sent to FW
+	 * before sending VDEV delete command
+	 * otherwise it will cause FW assert
+	 * Need to do this before sending to scheduler queue
+	 * otherwise the scheduler thread will be blocked
+	 * and fail to handle the VDEV stop timeout callback
+	 * in which peer delete command will also be sent
+	 */
+	wma_vdev_wait_for_peer_delete_completion(wma_handle, sessionId);
+
 	del_sta_self_req = qdf_mem_malloc(sizeof(struct del_sta_self_params));
 	if (NULL == del_sta_self_req) {
 		sme_err(" mem alloc failed for tDelStaSelfParams");
diff --git a/core/wma/inc/wma.h b/core/wma/inc/wma.h
index 7cf03e45c04e..52f97d608e85 100644
--- a/core/wma/inc/wma.h
+++ b/core/wma/inc/wma.h
@@ -1111,7 +1111,7 @@ struct wma_txrx_node {
 	bool restore_dtim_setting;
 	uint32_t peer_count;
 	qdf_atomic_t fw_peer_count;
-	qdf_event_t fw_peer_delete;
+	qdf_event_t fw_peer_delete_completion;
 	bool roam_synch_in_progress;
 	void *plink_status_req;
 	void *psnr_req;
@@ -2659,4 +2659,16 @@ QDF_STATUS wma_config_bmiss_bcnt_params(uint32_t vdev_id, uint32_t first_cnt,
  * Return: None
  */
 void wma_check_and_set_wake_timer(uint32_t time);
+
+/**
+ * wma_vdev_wait_for_peer_delete_completion() - wait for all peers of the vdev
+ * to be deleted.
+ * @wma_handle: wma handle
+ * @vdev_id: vdev id
+ *
+ * Return: None
+ */
+void wma_vdev_wait_for_peer_delete_completion(tp_wma_handle wma_handle,
+					      uint8_t vdev_id);
+
 #endif
diff --git a/core/wma/src/wma_dev_if.c b/core/wma/src/wma_dev_if.c
index 14f6390a4670..75a02b06ef16 100644
--- a/core/wma/src/wma_dev_if.c
+++ b/core/wma/src/wma_dev_if.c
@@ -573,8 +573,6 @@ wma_cdp_vdev_detach(ol_txrx_soc_handle soc,
 	iface->is_vdev_valid = false;
 }
 
-#define WAIT_FW_PEER_DELETE_TIMEOUT (5*1000)
-
 static QDF_STATUS wma_handle_vdev_detach(tp_wma_handle wma_handle,
 			struct del_sta_self_params *del_sta_self_req_param,
 			uint8_t generate_rsp)
@@ -591,11 +589,7 @@ static QDF_STATUS wma_handle_vdev_detach(tp_wma_handle wma_handle,
 		goto out;
 	}
 
-	while (qdf_atomic_read(&iface->fw_peer_count)) {
-		qdf_wait_for_event_completion(&iface->fw_peer_delete,
-					      WAIT_FW_PEER_DELETE_TIMEOUT);
-		qdf_event_reset(&iface->fw_peer_delete);
-	}
+	QDF_BUG(qdf_atomic_read(&iface->fw_peer_count) == 0);
 
 	status = wmi_unified_vdev_delete_send(wma_handle->wmi_handle, vdev_id);
 	if (QDF_IS_STATUS_ERROR(status)) {
@@ -603,7 +597,7 @@ static QDF_STATUS wma_handle_vdev_detach(tp_wma_handle wma_handle,
 		goto out;
 	}
 
-	qdf_event_destroy(&iface->fw_peer_delete);
+	qdf_event_destroy(&iface->fw_peer_delete_completion);
 
 	WMA_LOGD("vdev_id:%hu vdev_hdl:%pK", vdev_id, iface->handle);
 	if (!generate_rsp) {
@@ -713,6 +707,30 @@ VDEV_DETACH:
 	wma_cdp_vdev_detach(soc, wma_handle, vdev_id);
 }
 
+#define WMA_WAIT_PEER_DELETE_COMPLETION_TIMEOUT (WMA_VDEV_STOP_REQUEST_TIMEOUT+ 1000)
+
+/**
+ * wma_vdev_wait_for_peer_delete_completion(): wait for all peers of the vdev
+ * to be deleted.
+ * @wma_handle: wma handle
+ * @vdev_id: vdev id
+ *
+ * Return: None
+ */
+void wma_vdev_wait_for_peer_delete_completion(tp_wma_handle wma_handle,
+					      uint8_t vdev_id)
+{
+	struct wma_txrx_node *iface = &wma_handle->interfaces[vdev_id];
+
+	if (!iface) {
+		WMA_LOGE("%s: iface of vdev-%d is NULL", __func__, vdev_id);
+		return;
+	}
+
+	qdf_wait_for_event_completion(&iface->fw_peer_delete_completion,
+				      WMA_WAIT_PEER_DELETE_COMPLETION_TIMEOUT);
+}
+
 /**
  * wma_vdev_detach() - send vdev delete command to fw
  * @wma_handle: wma handle
@@ -1426,9 +1444,10 @@ void wma_remove_peer(tp_wma_handle wma, uint8_t *bssid,
 		bitmap = 1 << CDP_PEER_DO_NOT_START_UNMAP_TIMER;
 	} else {
 		qdf_atomic_dec(&wma->interfaces[vdev_id].fw_peer_count);
-		qdf_event_set(&wma->interfaces[vdev_id].fw_peer_delete);
 		WMA_LOGD("%s: vdev-%d fw_peer_count %d", __func__, vdev_id,
 			 qdf_atomic_read(&wma->interfaces[vdev_id].fw_peer_count));
+		if (qdf_atomic_read(&wma->interfaces[vdev_id].fw_peer_count) == 0)
+			qdf_event_set(&wma->interfaces[vdev_id].fw_peer_delete_completion);
 	}
 
 peer_detach:
@@ -1570,6 +1589,7 @@ QDF_STATUS wma_create_peer(tp_wma_handle wma, struct cdp_pdev *pdev,
 		qdf_atomic_inc(&wma->interfaces[vdev_id].fw_peer_count);
 		WMA_LOGD("%s: vdev-%d fw_peer_count %d", __func__, vdev_id,
 			 qdf_atomic_read(&wma->interfaces[vdev_id].fw_peer_count));
+		qdf_event_reset(&wma->interfaces[vdev_id].fw_peer_delete_completion);
 	}
 
 	WMA_LOGD("%s: Created peer %pK with peer_addr %pM vdev_id %d, peer_count - %d",
@@ -2236,9 +2256,12 @@ struct cdp_vdev *wma_vdev_attach(tp_wma_handle wma_handle,
 	qdf_atomic_init(&wma_handle->interfaces
 			[self_sta_req->session_id].fw_peer_count);
 	status = qdf_event_create(&wma_handle->interfaces
-				  [self_sta_req->session_id].fw_peer_delete);
-	if (status != QDF_STATUS_SUCCESS)
-		WMA_LOGE("%s: Failed to create fw_peer_delete event", __func__);
+				  [self_sta_req->session_id].fw_peer_delete_completion);
+	if (status != QDF_STATUS_SUCCESS) {
+		WMA_LOGE("%s: Failed to create fw_peer_delete_completion", __func__);
+		goto end;
+	}
+	qdf_event_set(&wma_handle->interfaces[vdev_id].fw_peer_delete_completion);
 
 	if (((self_sta_req->type == WMI_VDEV_TYPE_AP) &&
 	    (self_sta_req->sub_type == WMI_UNIFIED_VDEV_SUBTYPE_P2P_DEVICE)) ||