diff --git a/subsys/bluetooth/mesh/beacon.c b/subsys/bluetooth/mesh/beacon.c
index 6eb2c9be3a7..cdd5862330e 100644
--- a/subsys/bluetooth/mesh/beacon.c
+++ b/subsys/bluetooth/mesh/beacon.c
@@ -40,6 +40,8 @@ LOG_MODULE_REGISTER(bt_mesh_beacon);
 #define PROV_XMIT                  BT_MESH_TRANSMIT(0, 20)
 
 static struct k_work_delayable beacon_timer;
+static struct bt_mesh_subnet *beacon_send_sub_curr;
+
 #if defined(CONFIG_BT_MESH_PRIV_BEACONS)
 static struct {
 	/**
@@ -111,13 +113,26 @@ void bt_mesh_beacon_cache_clear(struct bt_mesh_subnet *sub)
 #endif
 }
 
+static void beacon_start(uint16_t duration, int err, void *user_data)
+{
+	if (err) {
+		LOG_ERR("Failed to send beacon: err %d", err);
+		if (beacon_send_sub_curr) {
+			k_work_reschedule(&beacon_timer, K_NO_WAIT);
+		}
+	}
+}
+
 static void beacon_complete(int err, void *user_data)
 {
 	struct bt_mesh_beacon *beacon = user_data;
 
 	LOG_DBG("err %d", err);
-
 	beacon->sent = k_uptime_get_32();
+
+	if (beacon_send_sub_curr) {
+		k_work_reschedule(&beacon_timer, K_MSEC(20));
+	}
 }
 
 static int secure_beacon_create(struct bt_mesh_subnet *sub,
@@ -247,11 +262,12 @@ static bool secure_beacon_is_running(void)
 	       atomic_test_bit(bt_mesh.flags, BT_MESH_IVU_INITIATOR);
 }
 
-static bool net_beacon_send(struct bt_mesh_subnet *sub, struct bt_mesh_beacon *beacon,
-			    void *cb_data, int (*beacon_create)(struct bt_mesh_subnet *sub,
-								struct net_buf_simple *buf))
+static int net_beacon_send(struct bt_mesh_subnet *sub, struct bt_mesh_beacon *beacon,
+			    int (*beacon_create)(struct bt_mesh_subnet *sub,
+						 struct net_buf_simple *buf))
 {
 	static const struct bt_mesh_send_cb send_cb = {
+		.start = beacon_start,
 		.end = beacon_complete,
 	};
 	uint32_t now = k_uptime_get_32();
@@ -267,14 +283,14 @@ static bool net_beacon_send(struct bt_mesh_subnet *sub, struct bt_mesh_beacon *b
 	if (time_diff < (600 * MSEC_PER_SEC) &&
 		(time_diff < BEACON_THRESHOLD(beacon) ||
 		 time_since_last_recv < (10 * MSEC_PER_SEC))) {
-		return false;
+		return -ENOMSG;
 	}
 
 	adv = bt_mesh_adv_create(BT_MESH_ADV_BEACON, BT_MESH_ADV_TAG_LOCAL,
 				 PROV_XMIT, K_NO_WAIT);
 	if (!adv) {
 		LOG_ERR("Unable to allocate beacon adv");
-		return true; /* Bail out */
+		return -ENOMEM; /* Bail out */
 	}
 
 	err = beacon_create(sub, &adv->b);
@@ -284,12 +300,12 @@ static bool net_beacon_send(struct bt_mesh_subnet *sub, struct bt_mesh_beacon *b
 
 	bt_mesh_adv_unref(adv);
 
-	return err != 0;
+	return err;
 }
 
-static bool net_beacon_for_subnet_send(struct bt_mesh_subnet *sub, void *cb_data)
+static int net_beacon_for_subnet_send(struct bt_mesh_subnet *sub)
 {
-	bool res = true;
+	int err = -ENOMSG;
 
 	struct {
 		struct bt_mesh_beacon *beacon;
@@ -315,14 +331,14 @@ static bool net_beacon_for_subnet_send(struct bt_mesh_subnet *sub, void *cb_data
 			continue;
 		}
 
-		res = net_beacon_send(sub, beacons[i].beacon, cb_data, beacons[i].create_fn);
-		if (res) {
+		err = net_beacon_send(sub, beacons[i].beacon, beacons[i].create_fn);
+		if (err < 0) {
 			/* Bail out */
 			break;
 		}
 	}
 
-	return res;
+	return err;
 }
 
 static int unprovisioned_beacon_send(void)
@@ -449,6 +465,30 @@ static bool net_beacon_is_running(void)
 	       (bt_mesh_priv_beacon_get() == BT_MESH_FEATURE_ENABLED);
 }
 
+static bool beacons_send_next(void)
+{
+	int err;
+	struct bt_mesh_subnet *sub_first = bt_mesh_subnet_next(NULL);
+	struct bt_mesh_subnet *sub_next;
+
+	do {
+		sub_next = bt_mesh_subnet_next(beacon_send_sub_curr);
+		if (sub_next == sub_first && beacon_send_sub_curr != NULL) {
+			beacon_send_sub_curr = NULL;
+			return false;
+		}
+
+		beacon_send_sub_curr = sub_next;
+		err = net_beacon_for_subnet_send(beacon_send_sub_curr);
+		if (err < 0 && (err != -ENOMSG)) {
+			LOG_ERR("Failed to advertise subnet %d: err %d",
+				beacon_send_sub_curr->net_idx, err);
+		}
+	} while (err);
+
+	return true;
+}
+
 static void beacon_send(struct k_work *work)
 {
 	LOG_DBG("");
@@ -458,10 +498,14 @@ static void beacon_send(struct k_work *work)
 			return;
 		}
 
-		update_beacon_observation();
-		(void)bt_mesh_subnet_find(net_beacon_for_subnet_send, NULL);
+		if (!beacon_send_sub_curr) {
+			update_beacon_observation();
+		}
+
+		if (!beacons_send_next()) {
+			k_work_schedule(&beacon_timer, PROVISIONED_INTERVAL);
+		}
 
-		k_work_schedule(&beacon_timer, PROVISIONED_INTERVAL);
 		return;
 	}
 
@@ -473,7 +517,6 @@ static void beacon_send(struct k_work *work)
 
 		k_work_schedule(&beacon_timer, K_SECONDS(CONFIG_BT_MESH_UNPROV_BEACON_INT));
 	}
-
 }
 
 static bool auth_match(struct bt_mesh_subnet_keys *keys,
@@ -757,6 +800,7 @@ void bt_mesh_beacon_ivu_initiator(bool enable)
 	 * still have to implement an early exit mechanism, so we might as well
 	 * just use this every time.
 	 */
+	beacon_send_sub_curr = NULL;
 	k_work_schedule(&beacon_timer, K_NO_WAIT);
 }
 
@@ -779,11 +823,13 @@ void bt_mesh_beacon_enable(void)
 		bt_mesh_subnet_foreach(subnet_beacon_enable);
 	}
 
+	beacon_send_sub_curr = NULL;
 	k_work_reschedule(&beacon_timer, K_NO_WAIT);
 }
 
 void bt_mesh_beacon_disable(void)
 {
 	/* If this fails, we'll do an early exit in the work handler. */
+	beacon_send_sub_curr = NULL;
 	(void)k_work_cancel_delayable(&beacon_timer);
 }
diff --git a/tests/bsim/bluetooth/mesh/src/test_beacon.c b/tests/bsim/bluetooth/mesh/src/test_beacon.c
index b1d7c214dc0..e3a601e4134 100644
--- a/tests/bsim/bluetooth/mesh/src/test_beacon.c
+++ b/tests/bsim/bluetooth/mesh/src/test_beacon.c
@@ -483,8 +483,11 @@ static void corrupted_beacon_test(const uint8_t *offsets,
 	}
 
 	/* Now the beacon payload is valid and it shall trigger IV Update on the node. It shall also
-	 * increase the beacon interval.
+	 * increase the beacon interval. We delay the outgoing beacon for a couple of seconds to
+	 * avoid near perfect syncing with the beacon interval cycle of the device we just received
+	 * a beacon from.
 	 */
+	k_sleep(K_SECONDS(3));
 	send_beacon(buf);
 
 	/* The beacon interval shall be changed and the node shall skip transmission of the next
@@ -1361,7 +1364,7 @@ static void test_tx_priv_interleave(void)
 	struct bt_mesh_subnet *sub;
 
 
-	bt_mesh_test_cfg_set(NULL, BEACON_INTERVAL_WAIT_TIME);
+	bt_mesh_test_cfg_set(NULL, WAIT_TIME);
 	bt_mesh_device_setup(&prov, &prb_comp);
 	provision(&tx_cfg);
 
@@ -1394,6 +1397,8 @@ static void test_tx_priv_interleave(void)
 	k_sleep(K_SECONDS(BEACON_INTERVAL + 5));
 
 	toggle_priv_beacon(tx_cfg.addr, 0);
+	/* Small delay to let beacons complete before subnet update is applied */
+	k_sleep(K_MSEC(20));
 
 	status = bt_mesh_subnet_update(BT_MESH_KEY_PRIMARY, net_key_new);
 	ASSERT_TRUE(status == STATUS_SUCCESS);
@@ -1419,7 +1424,7 @@ static void test_rx_priv_interleave(void)
 	int err;
 	bool same_random = false;
 
-	bt_mesh_test_cfg_set(&rx_cfg, BEACON_INTERVAL_WAIT_TIME);
+	bt_mesh_test_cfg_set(&rx_cfg, WAIT_TIME);
 	bt_mesh_crypto_init();
 	k_sem_init(&observer_sem, 0, 1);
 
@@ -1894,9 +1899,10 @@ static void proxy_adv_confirm_evt(struct expected_proxy_adv_evt *exp_evts, uint8
 
 	for (int i = 0; i < cnt; i++) {
 		if (exp_evts[i].evt_cnt) {
-			LOG_ERR("Missing %d expected %s events in period %llums-%llums",
+			LOG_ERR("Missing %d expected %s idx %d events in period %llums-%llums",
 				exp_evts[i].evt_cnt, proxy_adv_str[exp_evts[i].evt_type],
-				exp_evts[i].time.after, exp_evts[i].time.before);
+				exp_evts[i].net_idx, exp_evts[i].time.after,
+				exp_evts[i].time.before);
 			missing_evts = true;
 		}
 	}
@@ -2029,13 +2035,13 @@ static void test_rx_proxy_adv_multi_subnet_coex(void)
 		 *  is advertised by this subnet, and that the two others
 		 *  continues to advertise NET_ID.
 		 */
-		{.evt_type = BEACON_TYPE_NET_ID, .net_idx = 0, .evt_cnt = 17,
+		{.evt_type = BEACON_TYPE_NET_ID, .net_idx = 0, .evt_cnt = 16,
 		 .time = {.after = PROXY_ADV_MULTI_CHECKPOINT_2,
 			  .before = PROXY_ADV_MULTI_CHECKPOINT_3}},
-		{.evt_type = BEACON_TYPE_NODE_ID, .net_idx = 1, .evt_cnt = 17,
+		{.evt_type = BEACON_TYPE_NODE_ID, .net_idx = 1, .evt_cnt = 16,
 		 .time = {.after = PROXY_ADV_MULTI_CHECKPOINT_2,
 			  .before = PROXY_ADV_MULTI_CHECKPOINT_3}},
-		{.evt_type = BEACON_TYPE_NET_ID, .net_idx = 2, .evt_cnt = 17,
+		{.evt_type = BEACON_TYPE_NET_ID, .net_idx = 2, .evt_cnt = 16,
 		 .time = {.after = PROXY_ADV_MULTI_CHECKPOINT_2,
 			  .before = PROXY_ADV_MULTI_CHECKPOINT_3}},