diff --git a/include/net/bluetooth/hci.h b/include/net/bluetooth/hci.h
index ea4ae551c426..c4b0650fb9ae 100644
--- a/include/net/bluetooth/hci.h
+++ b/include/net/bluetooth/hci.h
@@ -339,6 +339,7 @@ enum {
 #define HCI_PAIRING_TIMEOUT	msecs_to_jiffies(60000)	/* 60 seconds */
 #define HCI_INIT_TIMEOUT	msecs_to_jiffies(10000)	/* 10 seconds */
 #define HCI_CMD_TIMEOUT		msecs_to_jiffies(2000)	/* 2 seconds */
+#define HCI_NCMD_TIMEOUT	msecs_to_jiffies(4000)	/* 4 seconds */
 #define HCI_ACL_TX_TIMEOUT	msecs_to_jiffies(45000)	/* 45 seconds */
 #define HCI_AUTO_OFF_TIMEOUT	msecs_to_jiffies(2000)	/* 2 seconds */
 #define HCI_POWER_OFF_TIMEOUT	msecs_to_jiffies(5000)	/* 5 seconds */
diff --git a/include/net/bluetooth/hci_core.h b/include/net/bluetooth/hci_core.h
index ebdd4afe30d2..f14692b39fd5 100644
--- a/include/net/bluetooth/hci_core.h
+++ b/include/net/bluetooth/hci_core.h
@@ -470,6 +470,7 @@ struct hci_dev {
 	struct delayed_work	service_cache;
 
 	struct delayed_work	cmd_timer;
+	struct delayed_work	ncmd_timer;
 
 	struct work_struct	rx_work;
 	struct work_struct	cmd_work;
diff --git a/net/bluetooth/hci_core.c b/net/bluetooth/hci_core.c
index b0d9c36acc03..e8b492ffb207 100644
--- a/net/bluetooth/hci_core.c
+++ b/net/bluetooth/hci_core.c
@@ -1723,6 +1723,7 @@ int hci_dev_do_close(struct hci_dev *hdev)
 	}
 
 	cancel_delayed_work(&hdev->power_off);
+	cancel_delayed_work(&hdev->ncmd_timer);
 
 	hci_request_cancel_all(hdev);
 	hci_req_sync_lock(hdev);
@@ -2769,6 +2770,24 @@ static void hci_cmd_timeout(struct work_struct *work)
 	queue_work(hdev->workqueue, &hdev->cmd_work);
 }
 
+/* HCI ncmd timer function */
+static void hci_ncmd_timeout(struct work_struct *work)
+{
+	struct hci_dev *hdev = container_of(work, struct hci_dev,
+					    ncmd_timer.work);
+
+	bt_dev_err(hdev, "Controller not accepting commands anymore: ncmd = 0");
+
+	/* During HCI_INIT phase no events can be injected if the ncmd timer
+	 * triggers since the procedure has its own timeout handling.
+	 */
+	if (test_bit(HCI_INIT, &hdev->flags))
+		return;
+
+	/* This is an irrecoverable state, inject hardware error event */
+	hci_reset_dev(hdev);
+}
+
 struct oob_data *hci_find_remote_oob_data(struct hci_dev *hdev,
 					  bdaddr_t *bdaddr, u8 bdaddr_type)
 {
@@ -3831,6 +3850,7 @@ struct hci_dev *hci_alloc_dev(void)
 	init_waitqueue_head(&hdev->suspend_wait_q);
 
 	INIT_DELAYED_WORK(&hdev->cmd_timer, hci_cmd_timeout);
+	INIT_DELAYED_WORK(&hdev->ncmd_timer, hci_ncmd_timeout);
 
 	hci_request_setup(hdev);
 
@@ -4068,6 +4088,8 @@ int hci_reset_dev(struct hci_dev *hdev)
 	hci_skb_pkt_type(skb) = HCI_EVENT_PKT;
 	skb_put_data(skb, hw_err, 3);
 
+	bt_dev_err(hdev, "Injecting HCI hardware error event");
+
 	/* Send Hardware Error to upper stack */
 	return hci_recv_frame(hdev, skb);
 }
diff --git a/net/bluetooth/hci_event.c b/net/bluetooth/hci_event.c
index cf2f4a0abdbd..479fdcb437e4 100644
--- a/net/bluetooth/hci_event.c
+++ b/net/bluetooth/hci_event.c
@@ -3270,6 +3270,23 @@ static void hci_remote_features_evt(struct hci_dev *hdev,
 	hci_dev_unlock(hdev);
 }
 
+static inline void handle_cmd_cnt_and_timer(struct hci_dev *hdev,
+					    u16 opcode, u8 ncmd)
+{
+	if (opcode != HCI_OP_NOP)
+		cancel_delayed_work(&hdev->cmd_timer);
+
+	if (!test_bit(HCI_RESET, &hdev->flags)) {
+		if (ncmd) {
+			cancel_delayed_work(&hdev->ncmd_timer);
+			atomic_set(&hdev->cmd_cnt, 1);
+		} else {
+			schedule_delayed_work(&hdev->ncmd_timer,
+					      HCI_NCMD_TIMEOUT);
+		}
+	}
+}
+
 static void hci_cmd_complete_evt(struct hci_dev *hdev, struct sk_buff *skb,
 				 u16 *opcode, u8 *status,
 				 hci_req_complete_t *req_complete,
@@ -3632,11 +3649,7 @@ static void hci_cmd_complete_evt(struct hci_dev *hdev, struct sk_buff *skb,
 		break;
 	}
 
-	if (*opcode != HCI_OP_NOP)
-		cancel_delayed_work(&hdev->cmd_timer);
-
-	if (ev->ncmd && !test_bit(HCI_RESET, &hdev->flags))
-		atomic_set(&hdev->cmd_cnt, 1);
+	handle_cmd_cnt_and_timer(hdev, *opcode, ev->ncmd);
 
 	hci_req_cmd_complete(hdev, *opcode, *status, req_complete,
 			     req_complete_skb);
@@ -3737,11 +3750,7 @@ static void hci_cmd_status_evt(struct hci_dev *hdev, struct sk_buff *skb,
 		break;
 	}
 
-	if (*opcode != HCI_OP_NOP)
-		cancel_delayed_work(&hdev->cmd_timer);
-
-	if (ev->ncmd && !test_bit(HCI_RESET, &hdev->flags))
-		atomic_set(&hdev->cmd_cnt, 1);
+	handle_cmd_cnt_and_timer(hdev, *opcode, ev->ncmd);
 
 	/* Indicate request completion if the command failed. Also, if
 	 * we're not waiting for a special event and we get a success
