diff --git a/include/zephyr/ipc/icmsg.h b/include/zephyr/ipc/icmsg.h
index 0ff547ba2bb..27f4764ad57 100644
--- a/include/zephyr/ipc/icmsg.h
+++ b/include/zephyr/ipc/icmsg.h
@@ -37,6 +37,8 @@ struct icmsg_data_t {
 	void *ctx;
 
 	/* General */
+	const struct icmsg_config_t *cfg;
+	struct k_work_delayable notify_work;
 	struct k_work mbox_work;
 	atomic_t state;
 };
diff --git a/subsys/ipc/ipc_service/backends/Kconfig b/subsys/ipc/ipc_service/backends/Kconfig
index 43f487122ff..4b8d5d16f54 100644
--- a/subsys/ipc/ipc_service/backends/Kconfig
+++ b/subsys/ipc/ipc_service/backends/Kconfig
@@ -89,5 +89,13 @@ config SYSTEM_WORKQUEUE_PRIORITY
 	depends on IPC_SERVICE_ICMSG
 	range -256 -1
 
+config IPC_SERVICE_BACKEND_ICMSG_BOND_NOTIFY_REPEAT_TO_MS
+	int "Bond notification timeout in miliseconds"
+	range 1 100
+	default 1
+	help
+	  Time to wait for remote bonding notification before the
+	  notification is repeated.
+
 rsource "Kconfig.icmsg_me"
 rsource "Kconfig.rpmsg"
diff --git a/subsys/ipc/ipc_service/lib/icmsg.c b/subsys/ipc/ipc_service/lib/icmsg.c
index c51bc9e2160..583db86aac0 100644
--- a/subsys/ipc/ipc_service/lib/icmsg.c
+++ b/subsys/ipc/ipc_service/lib/icmsg.c
@@ -12,6 +12,7 @@
 #include <zephyr/sys/spsc_pbuf.h>
 
 #define CB_BUF_SIZE	CONFIG_IPC_SERVICE_ICMSG_CB_BUF_SIZE
+#define BOND_NOTIFY_REPEAT_TO K_MSEC(CONFIG_IPC_SERVICE_BACKEND_ICMSG_BOND_NOTIFY_REPEAT_TO_MS)
 
 static const uint8_t magic[] = {0x45, 0x6d, 0x31, 0x6c, 0x31, 0x4b,
 				0x30, 0x72, 0x6e, 0x33, 0x6c, 0x69, 0x34};
@@ -34,10 +35,30 @@ static int mbox_deinit(const struct icmsg_config_t *conf,
 	}
 
 	(void)k_work_cancel(&dev_data->mbox_work);
+	(void)k_work_cancel_delayable(&dev_data->notify_work);
 
 	return 0;
 }
 
+static void notify_process(struct k_work *item)
+{
+	struct k_work_delayable *dwork = k_work_delayable_from_work(item);
+	struct icmsg_data_t *dev_data =
+		CONTAINER_OF(dwork, struct icmsg_data_t, notify_work);
+
+	(void)mbox_send(&dev_data->cfg->mbox_tx, NULL);
+
+	atomic_t state = atomic_get(&dev_data->state);
+
+	if (state != ICMSG_STATE_READY) {
+		int ret;
+
+		ret = k_work_reschedule(dwork, BOND_NOTIFY_REPEAT_TO);
+		__ASSERT_NO_MSG(ret >= 0);
+		(void)ret;
+	}
+}
+
 static void mbox_callback_process(struct k_work *item)
 {
 	struct icmsg_data_t *dev_data = CONTAINER_OF(item, struct icmsg_data_t, mbox_work);
@@ -61,6 +82,8 @@ static void mbox_callback_process(struct k_work *item)
 			dev_data->cb->received(cb_buffer, len, dev_data->ctx);
 		}
 	} else {
+		int ret;
+
 		__ASSERT_NO_MSG(state == ICMSG_STATE_BUSY);
 		if (len != sizeof(magic) || memcmp(magic, cb_buffer, len)) {
 			__ASSERT_NO_MSG(false);
@@ -72,6 +95,9 @@ static void mbox_callback_process(struct k_work *item)
 		}
 
 		atomic_set(&dev_data->state, ICMSG_STATE_READY);
+		ret = k_work_cancel_delayable(&dev_data->notify_work);
+		__ASSERT_NO_MSG(ret >= 0);
+		(void)ret;
 	}
 
 	/* Reading with NULL buffer to know if there are data in the
@@ -102,6 +128,7 @@ static int mbox_init(const struct icmsg_config_t *conf,
 	int err;
 
 	k_work_init(&dev_data->mbox_work, mbox_callback_process);
+	k_work_init_delayable(&dev_data->notify_work, notify_process);
 
 	err = mbox_register_callback(&conf->mbox_rx, mbox_callback, dev_data);
 	if (err != 0) {
@@ -137,6 +164,7 @@ int icmsg_open(const struct icmsg_config_t *conf,
 
 	dev_data->cb = cb;
 	dev_data->ctx = ctx;
+	dev_data->cfg = conf;
 
 	ret = mbox_init(conf, dev_data);
 	if (ret) {
@@ -154,16 +182,11 @@ int icmsg_open(const struct icmsg_config_t *conf,
 		return ret;
 	}
 
-	ret = mbox_send(&conf->mbox_tx, NULL);
-	if (ret) {
+	ret = k_work_schedule(&dev_data->notify_work, K_NO_WAIT);
+	if (ret < 0) {
 		return ret;
 	}
 
-	ret = spsc_pbuf_read(dev_data->rx_ib, NULL, 0);
-	if (ret > 0) {
-		(void)k_work_submit(&dev_data->mbox_work);
-	}
-
 	return 0;
 }