diff --git a/components/esp_websocket_client/esp_websocket_client.c b/components/esp_websocket_client/esp_websocket_client.c
index 953a7b1d29..37eeb1a7cc 100644
--- a/components/esp_websocket_client/esp_websocket_client.c
+++ b/components/esp_websocket_client/esp_websocket_client.c
@@ -1146,6 +1146,17 @@ esp_err_t esp_websocket_client_start(esp_websocket_client_handle_t client)
 }
 
 esp_err_t esp_websocket_client_stop(esp_websocket_client_handle_t client)
+{
+    esp_err_t result = esp_websocket_client_initiate_stop(client);
+    if (result != ESP_OK)
+        return result;
+
+    xEventGroupWaitBits(client->status_bits, STOPPED_BIT, false, true, portMAX_DELAY);
+    client->state = WEBSOCKET_STATE_UNKNOW;
+    return ESP_OK;
+}
+
+esp_err_t esp_websocket_client_initiate_stop(esp_websocket_client_handle_t client)
 {
     if (client == NULL) {
         return ESP_ERR_INVALID_ARG;
@@ -1162,13 +1173,30 @@ esp_err_t esp_websocket_client_stop(esp_websocket_client_handle_t client)
         return ESP_FAIL;
     }
 
-
     client->run = false;
-    xEventGroupWaitBits(client->status_bits, STOPPED_BIT, false, true, portMAX_DELAY);
-    client->state = WEBSOCKET_STATE_UNKNOW;
+
     return ESP_OK;
 }
 
+bool esp_websocket_client_is_already_stopped(esp_websocket_client_handle_t client)
+{
+    if (client == NULL) {
+        return ESP_ERR_INVALID_ARG;
+    }
+
+    if (client->run)
+        return false;
+
+    EventBits_t bits = xEventGroupClearBits(client->status_bits, 0);
+    if (bits & STOPPED_BIT)
+    {
+        client->state = WEBSOCKET_STATE_UNKNOW;
+        return true;
+    }
+
+    return false;
+}
+
 static int esp_websocket_client_send_close(esp_websocket_client_handle_t client, int code, const char *additional_data, int total_len, TickType_t timeout)
 {
     uint8_t *close_status_data = NULL;
diff --git a/components/esp_websocket_client/include/esp_websocket_client.h b/components/esp_websocket_client/include/esp_websocket_client.h
index 15fb63b7ca..d60149df47 100644
--- a/components/esp_websocket_client/include/esp_websocket_client.h
+++ b/components/esp_websocket_client/include/esp_websocket_client.h
@@ -212,6 +212,38 @@ esp_err_t esp_websocket_client_start(esp_websocket_client_handle_t client);
  */
 esp_err_t esp_websocket_client_stop(esp_websocket_client_handle_t client);
 
+/**
+ * @brief      Initiate an asynchronus stop of the WebSocket connection without
+ *             websocket closing handshake
+ *
+ * This API initiates a non-blocking asynchronus stop of ws client. This will
+ * close TCP connection later directly without sending close frames. This is
+ * method is similar to esp_websocket_client_stop() but does not block the calling
+ * task. It is required to then later periodically call
+ * esp_websocket_client_is_already_stopped() to find out when its done and to
+ * finalize the closing of the websocket client.
+ *
+ *  Notes:
+ *  - Cannot be called from the websocket event handler
+ *
+ * @param[in]  client  The client
+ *
+ * @return     esp_err_t
+ */
+esp_err_t esp_websocket_client_initiate_stop(esp_websocket_client_handle_t client);
+
+/**
+ * @brief      After an asynchronus stop was initiated, this method returns if it is done already.
+ *             If this method returns true, it also performed some final cleanup. It should then not
+ *             be called anymore unless esp_websocket_client_initiate_stop() is called again.
+ *
+ * @param[in]  client  The client
+ *
+ * @return
+ *     - bool if it is done or not
+ */
+bool esp_websocket_client_is_already_stopped(esp_websocket_client_handle_t client);
+
 /**
  * @brief      Destroy the WebSocket connection and free all resources.
  *             This function must be the last function to call for an session.