diff --git a/src/main/fc/settings.c b/src/main/fc/settings.c
index 5798e07aae..4382888887 100644
--- a/src/main/fc/settings.c
+++ b/src/main/fc/settings.c
@@ -550,6 +550,7 @@ const clivalue_t valueTable[] = {
     { "crash_gthreshold",           VAR_UINT16 | PROFILE_VALUE, .config.minmax = { 0, 2000 }, PG_PID_PROFILE, offsetof(pidProfile_t, crash_gthreshold) },
     { "crash_setpoint_threshold",   VAR_UINT16 | PROFILE_VALUE, .config.minmax = { 0, 2000 }, PG_PID_PROFILE, offsetof(pidProfile_t, crash_setpoint_threshold) },
     { "crash_time",                 VAR_UINT16 | PROFILE_VALUE, .config.minmax = { 0, 5000 }, PG_PID_PROFILE, offsetof(pidProfile_t, crash_time) },
+    { "crash_delay",                VAR_UINT16 | PROFILE_VALUE, .config.minmax = { 0, 500 }, PG_PID_PROFILE, offsetof(pidProfile_t, crash_delay) },
     { "crash_recovery_angle",       VAR_UINT8  | PROFILE_VALUE, .config.minmax = { 0, 30 }, PG_PID_PROFILE, offsetof(pidProfile_t, crash_recovery_angle) },
     { "crash_recovery_rate",        VAR_UINT8  | PROFILE_VALUE, .config.minmax = { 0, 255 }, PG_PID_PROFILE, offsetof(pidProfile_t, crash_recovery_rate) },
     { "crash_recovery",             VAR_UINT8  | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_CRASH_RECOVERY }, PG_PID_PROFILE, offsetof(pidProfile_t, crash_recovery) },
diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index 9194e87f62..565be6bfd8 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -106,6 +106,7 @@ void resetPidProfile(pidProfile_t *pidProfile)
         .itermThrottleThreshold = 350,
         .itermAcceleratorGain = 1000,
         .crash_time = 500,          // ms
+        .crash_delay = 0,          // ms
         .crash_recovery_angle = 10, // degrees
         .crash_recovery_rate = 100, // degrees/second
         .crash_dthreshold = 50,     // degrees/second/second
@@ -240,6 +241,7 @@ static float levelGain, horizonGain, horizonTransition, horizonCutoffDegrees, ho
 static float ITermWindupPoint, ITermWindupPointInv;
 static uint8_t horizonTiltExpertMode;
 static timeDelta_t crashTimeLimitUs;
+static timeDelta_t crashTimeDelayUs;
 static int32_t crashRecoveryAngleDeciDegrees;
 static float crashRecoveryRate;
 static float crashDtermThreshold;
@@ -266,6 +268,7 @@ void pidInitConfig(const pidProfile_t *pidProfile)
     ITermWindupPoint = (float)pidProfile->itermWindupPointPercent / 100.0f;
     ITermWindupPointInv = 1.0f / (1.0f - ITermWindupPoint);
     crashTimeLimitUs = pidProfile->crash_time * 1000;
+    crashTimeDelayUs = pidProfile->crash_delay * 1000;
     crashRecoveryAngleDeciDegrees = pidProfile->crash_recovery_angle * 10;
     crashRecoveryRate = pidProfile->crash_recovery_rate;
     crashGyroThreshold = pidProfile->crash_gthreshold;
@@ -395,8 +398,11 @@ void pidController(const pidProfile_t *pidProfile, const rollAndPitchTrims_t *an
             currentPidSetpoint = pidLevel(axis, pidProfile, angleTrim, currentPidSetpoint);
         }
 
-        if (inCrashRecoveryMode && axis != FD_YAW) {
+        if (inCrashRecoveryMode && axis != FD_YAW && cmpTimeUs(currentTimeUs, crashDetectedAtUs) > crashTimeDelayUs) {
             // self-level - errorAngle is deviation from horizontal
+            if (pidProfile->crash_recovery == PID_CRASH_RECOVERY_BEEP) {
+                        BEEP_ON;
+            }
             const float errorAngle =  -(attitude.raw[axis] - angleTrim->raw[axis]) / 10.0f;
             currentPidSetpoint = errorAngle * levelGain;
             if (cmpTimeUs(currentTimeUs, crashDetectedAtUs) > crashTimeLimitUs
@@ -451,16 +457,17 @@ void pidController(const pidProfile_t *pidProfile, const rollAndPitchTrims_t *an
             previousRateError[axis] = rD;
 
             // if crash recovery is on and accelerometer enabled then check for a crash
-            if (pidProfile->crash_recovery && inCrashRecoveryMode == false && sensors(SENSOR_ACC) && ARMING_FLAG(ARMED)) {
-                if (motorMixRange >= 1.0f
+            if (pidProfile->crash_recovery && sensors(SENSOR_ACC) && ARMING_FLAG(ARMED)) {
+                if (motorMixRange >= 1.0f && inCrashRecoveryMode == false
                         && ABS(delta) > crashDtermThreshold
                         && ABS(errorRate) > crashGyroThreshold
                         && ABS(getSetpointRate(axis)) < crashSetpointThreshold) {
                     inCrashRecoveryMode = true;
                     crashDetectedAtUs = currentTimeUs;
-                    if (pidProfile->crash_recovery == PID_CRASH_RECOVERY_BEEP) {
-                        BEEP_ON;
-                    }
+                }
+                if (cmpTimeUs(currentTimeUs, crashDetectedAtUs) < crashTimeDelayUs && (ABS(errorRate) < crashGyroThreshold 
+                    || ABS(getSetpointRate(axis)) > crashSetpointThreshold)) {
+                    inCrashRecoveryMode = false;
                 }
             }
 
diff --git a/src/main/flight/pid.h b/src/main/flight/pid.h
index f8421b515b..70cce21129 100644
--- a/src/main/flight/pid.h
+++ b/src/main/flight/pid.h
@@ -102,6 +102,7 @@ typedef struct pidProfile_s {
     uint16_t crash_gthreshold;              // gyro crash value
     uint16_t crash_setpoint_threshold;      // setpoint must be below this value to detect crash, so flips and rolls are not interpreted as crashes
     uint16_t crash_time;                    // ms
+    uint16_t crash_delay;                   // ms
     uint8_t crash_recovery_angle;           // degrees
     uint8_t crash_recovery_rate;            // degree/second
     pidCrashRecovery_e crash_recovery;      // off, on, on and beeps when it is in crash recovery mode