diff --git a/drivers/sensor/lsm6dso/lsm6dso.c b/drivers/sensor/lsm6dso/lsm6dso.c
index 80ba9fd5e85..a00aaa2f781 100644
--- a/drivers/sensor/lsm6dso/lsm6dso.c
+++ b/drivers/sensor/lsm6dso/lsm6dso.c
@@ -712,7 +712,7 @@ static int lsm6dso_init_chip(const struct device *dev)
 	const struct lsm6dso_config *cfg = dev->config;
 	stmdev_ctx_t *ctx = (stmdev_ctx_t *)&cfg->ctx;
 	struct lsm6dso_data *lsm6dso = dev->data;
-	uint8_t chip_id;
+	uint8_t chip_id, master_on;
 	uint8_t odr, fs;
 
 	if (lsm6dso_device_id_get(ctx, &chip_id) < 0) {
@@ -733,6 +733,19 @@ static int lsm6dso_init_chip(const struct device *dev)
 		return -EIO;
 	}
 
+	/* Per AN5192 §7.2.1, "… when applying the software reset procedure, the I2C master
+	 * must be disabled, followed by a 300 μs wait."
+	 */
+	if (lsm6dso_sh_master_get(ctx, &master_on) < 0) {
+		LOG_DBG("Failed to get I2C_MASTER status");
+		return -EIO;
+	}
+	if (master_on) {
+		LOG_DBG("Disable shub before reset");
+		lsm6dso_sh_master_set(ctx, 0);
+		k_busy_wait(300);
+	}
+
 	/* reset device */
 	if (lsm6dso_reset_set(ctx, 1) < 0) {
 		return -EIO;