diff --git a/subsys/bluetooth/controller/Kconfig.ll_sw_split b/subsys/bluetooth/controller/Kconfig.ll_sw_split
index a7884d963bb..1727d6ab31a 100644
--- a/subsys/bluetooth/controller/Kconfig.ll_sw_split
+++ b/subsys/bluetooth/controller/Kconfig.ll_sw_split
@@ -284,6 +284,17 @@ config BT_CTRL_ADV_ADI_IN_SCAN_RSP
 	help
 	  Enable ADI field in AUX_SCAN_RSP PDU
 
+config BT_CTLR_SCAN_AUX_SYNC_RESERVE_MIN
+	bool "Use minimal Scan Auxiliary and Periodic Sync PDU time reservation"
+	depends on (BT_OBSERVER && BT_CTLR_ADV_EXT) || BT_CTLR_SYNC_PERIODIC
+	default y
+	help
+	  Use minimal time reservation for Auxiliary and Periodic Sync PDU
+	  reception. A peer device could scheduling multiple advertising sets
+	  in a short duration with small PDUs hence using the minimal time
+	  reservation would avoid skipping closely scheduled reception of
+	  multiple Auxiliary or Periodic Sync PDUs.
+
 config BT_CTLR_SYNC_PERIODIC_SKIP_ON_SCAN_AUX
 	bool "Skip Periodic Sync event on overlap with Extended Scan Event"
 	depends on BT_CTLR_SYNC_PERIODIC
diff --git a/subsys/bluetooth/controller/ll_sw/pdu.h b/subsys/bluetooth/controller/ll_sw/pdu.h
index f3f5dfc82c9..b1e02538105 100644
--- a/subsys/bluetooth/controller/ll_sw/pdu.h
+++ b/subsys/bluetooth/controller/ll_sw/pdu.h
@@ -41,6 +41,14 @@
 
 /* Advertisement channel maximum payload size */
 #if defined(CONFIG_BT_CTLR_ADV_EXT)
+
+/* Extended Scan and Periodic Sync Rx PDU time reservation */
+#if defined(CONFIG_BT_CTLR_SCAN_AUX_SYNC_RESERVE_MIN)
+#define PDU_AC_EXT_PAYLOAD_RX_SIZE 0U
+#else /* !CONFIG_BT_CTLR_SCAN_AUX_SYNC_RESERVE_MIN */
+#define PDU_AC_EXT_PAYLOAD_RX_SIZE PDU_AC_EXT_PAYLOAD_SIZE_MAX
+#endif /* !CONFIG_BT_CTLR_SCAN_AUX_SYNC_RESERVE_MIN */
+
 #define PDU_AC_EXT_HEADER_SIZE_MIN  offsetof(struct pdu_adv_com_ext_adv, \
 					     ext_hdr_adv_data)
 #define PDU_AC_EXT_HEADER_SIZE_MAX  63
diff --git a/subsys/bluetooth/controller/ll_sw/ull_scan_aux.c b/subsys/bluetooth/controller/ll_sw/ull_scan_aux.c
index df8d868c15b..454953bf5e0 100644
--- a/subsys/bluetooth/controller/ll_sw/ull_scan_aux.c
+++ b/subsys/bluetooth/controller/ll_sw/ull_scan_aux.c
@@ -654,7 +654,8 @@ void ull_scan_aux_setup(memq_link_t *link, struct node_rx_hdr *rx)
 	aux->ull.ticks_slot =
 		HAL_TICKER_US_TO_TICKS(EVENT_OVERHEAD_START_US +
 				       ready_delay_us +
-				       PDU_AC_MAX_US(0U, lll_aux->phy) +
+				       PDU_AC_MAX_US(PDU_AC_EXT_PAYLOAD_RX_SIZE,
+						     lll_aux->phy) +
 				       EVENT_OVERHEAD_END_US);
 
 	ticks_slot_offset = MAX(aux->ull.ticks_active_to_start,
diff --git a/subsys/bluetooth/controller/ll_sw/ull_sync.c b/subsys/bluetooth/controller/ll_sw/ull_sync.c
index 8304c47baaa..98197db94a1 100644
--- a/subsys/bluetooth/controller/ll_sw/ull_sync.c
+++ b/subsys/bluetooth/controller/ll_sw/ull_sync.c
@@ -761,7 +761,8 @@ void ull_sync_setup(struct ll_scan_set *scan, struct ll_scan_aux_set *aux,
 	sync->ull.ticks_slot =
 		HAL_TICKER_US_TO_TICKS(EVENT_OVERHEAD_START_US +
 				       ready_delay_us +
-				       PDU_AC_MAX_US(0U, lll->phy) +
+				       PDU_AC_MAX_US(PDU_AC_EXT_PAYLOAD_RX_SIZE,
+						     lll->phy) +
 				       EVENT_OVERHEAD_END_US);
 
 	ticks_slot_offset = MAX(sync->ull.ticks_active_to_start,