diff --git a/include/kernel.h b/include/kernel.h
index b7dad97ab34..527e6f436bd 100644
--- a/include/kernel.h
+++ b/include/kernel.h
@@ -932,6 +932,9 @@ extern void k_timer_start(struct k_timer *timer,
  * Attempting to stop a timer that is not running is permitted, but has no
  * effect on the timer.
  *
+ * @note Can be called by ISRs.  The stop handler has to be callable from ISRs
+ * if @a k_timer_stop is to be called from ISRs.
+ *
  * @param timer     Address of timer.
  *
  * @return N/A
diff --git a/kernel/timer.c b/kernel/timer.c
index c7afc111a8f..2f0c8218eb9 100644
--- a/kernel/timer.c
+++ b/kernel/timer.c
@@ -131,8 +131,6 @@ void k_timer_start(struct k_timer *timer, int32_t duration, int32_t period)
 
 void k_timer_stop(struct k_timer *timer)
 {
-	__ASSERT(!_is_in_isr(), "");
-
 	int key = irq_lock();
 	int inactive = (_abort_timeout(&timer->timeout) == _INACTIVE);