diff --git a/components/driver/uart.c b/components/driver/uart.c
index d57458f552..a4cc13b6d7 100644
--- a/components/driver/uart.c
+++ b/components/driver/uart.c
@@ -1771,7 +1771,7 @@ esp_err_t uart_get_collision_flag(uart_port_t uart_num, bool *collision_flag)
 esp_err_t uart_set_wakeup_threshold(uart_port_t uart_num, int wakeup_threshold)
 {
     ESP_RETURN_ON_FALSE((uart_num < UART_NUM_MAX), ESP_ERR_INVALID_ARG, UART_TAG, "uart_num error");
-    ESP_RETURN_ON_FALSE((wakeup_threshold <= UART_ACTIVE_THRESHOLD_V && wakeup_threshold > UART_MIN_WAKEUP_THRESH), ESP_ERR_INVALID_ARG, UART_TAG,
+    ESP_RETURN_ON_FALSE((wakeup_threshold <= UART_ACTIVE_THRESHOLD_V && wakeup_threshold >= UART_MIN_WAKEUP_THRESH), ESP_ERR_INVALID_ARG, UART_TAG,
                         "wakeup_threshold out of bounds");
     UART_ENTER_CRITICAL(&(uart_context[uart_num].spinlock));
     uart_hal_set_wakeup_thrd(&(uart_context[uart_num].hal), wakeup_threshold);
diff --git a/components/hal/esp32/include/hal/uart_ll.h b/components/hal/esp32/include/hal/uart_ll.h
index 646e11d46b..57bab2169b 100644
--- a/components/hal/esp32/include/hal/uart_ll.h
+++ b/components/hal/esp32/include/hal/uart_ll.h
@@ -1,16 +1,8 @@
-// Copyright 2015-2019 Espressif Systems (Shanghai) PTE LTD
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
+/*
+ * SPDX-FileCopyrightText: 2015-2024 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
 
 // The LL layer for UART register operations.
 // Note that most of the register operations in this layer are non-atomic operations.
@@ -36,7 +28,7 @@ extern "C" {
 // The timeout calibration factor when using ref_tick
 #define UART_LL_TOUT_REF_FACTOR_DEFAULT (8)
 
-#define UART_LL_MIN_WAKEUP_THRESH (2)
+#define UART_LL_MIN_WAKEUP_THRESH (3)
 #define UART_LL_INTR_MASK         (0x7ffff) //All interrupt mask
 
 // Define UART interrupts
@@ -617,7 +609,9 @@ FORCE_INLINE_ATTR void uart_ll_set_dtr_active_level(uart_dev_t *hw, int level)
  */
 FORCE_INLINE_ATTR void uart_ll_set_wakeup_thrd(uart_dev_t *hw, uint32_t wakeup_thrd)
 {
-    hw->sleep_conf.active_threshold = wakeup_thrd  - UART_LL_MIN_WAKEUP_THRESH;
+    // System would wakeup when the number of positive edges of RxD signal is larger than or equal to (UART_ACTIVE_THRESHOLD+2)
+    // Note: On ESP32, the minimum UART wakeup threshold is 2 + 1 = 3 (UART_ACTIVE_THRESHOLD set to 0 leads to consecutive triggering wakeup)
+    hw->sleep_conf.active_threshold = wakeup_thrd  - (UART_LL_MIN_WAKEUP_THRESH - 1);
 }
 
 /**
@@ -759,7 +753,7 @@ FORCE_INLINE_ATTR void uart_ll_get_at_cmd_char(uart_dev_t *hw, uint8_t *cmd_char
  */
 FORCE_INLINE_ATTR uint32_t uart_ll_get_wakeup_thrd(uart_dev_t *hw)
 {
-    return hw->sleep_conf.active_threshold + UART_LL_MIN_WAKEUP_THRESH;
+    return hw->sleep_conf.active_threshold + (UART_LL_MIN_WAKEUP_THRESH - 1);
 }
 
 /**
diff --git a/components/hal/esp32c3/include/hal/uart_ll.h b/components/hal/esp32c3/include/hal/uart_ll.h
index 6206057f1a..d46a0498b2 100644
--- a/components/hal/esp32c3/include/hal/uart_ll.h
+++ b/components/hal/esp32c3/include/hal/uart_ll.h
@@ -25,7 +25,7 @@ extern "C" {
 // Get UART hardware instance with giving uart num
 #define UART_LL_GET_HW(num) (((num) == 0) ? (&UART0) : (&UART1))
 
-#define UART_LL_MIN_WAKEUP_THRESH (2)
+#define UART_LL_MIN_WAKEUP_THRESH (3)
 #define UART_LL_INTR_MASK         (0x7ffff) //All interrupt mask
 
 #define UART_LL_FSM_IDLE                       (0x0)
@@ -610,6 +610,7 @@ static inline void uart_ll_set_dtr_active_level(uart_dev_t *hw, int level)
  */
 static inline void uart_ll_set_wakeup_thrd(uart_dev_t *hw, uint32_t wakeup_thrd)
 {
+    // System would wakeup when the number of positive edges of RxD signal is larger than or equal to (UART_ACTIVE_THRESHOLD+3)
     hw->sleep_conf.active_threshold = wakeup_thrd - UART_LL_MIN_WAKEUP_THRESH;
 }
 
diff --git a/components/hal/esp32h2/include/hal/uart_ll.h b/components/hal/esp32h2/include/hal/uart_ll.h
index 319d1faa52..4d40129330 100644
--- a/components/hal/esp32h2/include/hal/uart_ll.h
+++ b/components/hal/esp32h2/include/hal/uart_ll.h
@@ -33,7 +33,7 @@ extern "C" {
 // Get UART hardware instance with giving uart num
 #define UART_LL_GET_HW(num) (((num) == 0) ? (&UART0) : (&UART1))
 
-#define UART_LL_MIN_WAKEUP_THRESH (2)
+#define UART_LL_MIN_WAKEUP_THRESH (3)
 #define UART_LL_INTR_MASK         (0x7ffff) //All interrupt mask
 
 #define UART_LL_FSM_IDLE                       (0x0)
@@ -618,6 +618,7 @@ static inline void uart_ll_set_dtr_active_level(uart_dev_t *hw, int level)
  */
 static inline void uart_ll_set_wakeup_thrd(uart_dev_t *hw, uint32_t wakeup_thrd)
 {
+    // System would wakeup when the number of positive edges of RxD signal is larger than or equal to (UART_ACTIVE_THRESHOLD+3)
     hw->sleep_conf.active_threshold = wakeup_thrd - UART_LL_MIN_WAKEUP_THRESH;
 }
 
diff --git a/components/hal/esp32s2/include/hal/uart_ll.h b/components/hal/esp32s2/include/hal/uart_ll.h
index d1dd4afb26..21a46b5cad 100644
--- a/components/hal/esp32s2/include/hal/uart_ll.h
+++ b/components/hal/esp32s2/include/hal/uart_ll.h
@@ -25,7 +25,7 @@ extern "C" {
 // Get UART hardware instance with giving uart num
 #define UART_LL_GET_HW(num) (((num) == 0) ? (&UART0) : (&UART1))
 
-#define UART_LL_MIN_WAKEUP_THRESH (2)
+#define UART_LL_MIN_WAKEUP_THRESH (3)
 #define UART_LL_INTR_MASK         (0x7ffff) //All interrupt mask
 
 // Define UART interrupts
@@ -559,6 +559,7 @@ FORCE_INLINE_ATTR void uart_ll_set_dtr_active_level(uart_dev_t *hw, int level)
  */
 FORCE_INLINE_ATTR void uart_ll_set_wakeup_thrd(uart_dev_t *hw, uint32_t wakeup_thrd)
 {
+    // System would wakeup when the number of positive edges of RxD signal is larger than or equal to (UART_ACTIVE_THRESHOLD+3)
     hw->sleep_conf.active_threshold = wakeup_thrd - UART_LL_MIN_WAKEUP_THRESH;
 }
 
diff --git a/components/hal/esp32s3/include/hal/uart_ll.h b/components/hal/esp32s3/include/hal/uart_ll.h
index efb32e14f4..64477f1696 100644
--- a/components/hal/esp32s3/include/hal/uart_ll.h
+++ b/components/hal/esp32s3/include/hal/uart_ll.h
@@ -26,7 +26,7 @@ extern "C" {
 // Get UART hardware instance with giving uart num
 #define UART_LL_GET_HW(num) (((num) == 0) ? (&UART0) : (((num) == 1) ? (&UART1) : (&UART2)))
 
-#define UART_LL_MIN_WAKEUP_THRESH (2)
+#define UART_LL_MIN_WAKEUP_THRESH (3)
 #define UART_LL_INTR_MASK         (0x7ffff) //All interrupt mask
 
 #define UART_LL_FSM_IDLE          (0x0)
@@ -609,6 +609,7 @@ FORCE_INLINE_ATTR void uart_ll_set_dtr_active_level(uart_dev_t *hw, int level)
  */
 FORCE_INLINE_ATTR void uart_ll_set_wakeup_thrd(uart_dev_t *hw, uint32_t wakeup_thrd)
 {
+    // System would wakeup when the number of positive edges of RxD signal is larger than or equal to (UART_ACTIVE_THRESHOLD+3)
     hw->sleep_conf.active_threshold = wakeup_thrd - UART_LL_MIN_WAKEUP_THRESH;
 }
 
diff --git a/docs/en/api-reference/system/sleep_modes.rst b/docs/en/api-reference/system/sleep_modes.rst
index d1e6175bdb..302736a8e5 100644
--- a/docs/en/api-reference/system/sleep_modes.rst
+++ b/docs/en/api-reference/system/sleep_modes.rst
@@ -170,6 +170,7 @@ When {IDF_TARGET_NAME} receives UART input from external devices, it is often re
 
 :cpp:func:`esp_sleep_enable_uart_wakeup` function can be used to enable this wakeup source.
 
+After waking-up from UART, you should send some extra data through the UART port in Active mode, so that the internal wakeup indication signal can be cleared. Otherwises, the next UART wake-up would trigger with two less rising edges than the configured threshold value.
 
 Power-down of RTC peripherals and memories
 ------------------------------------------