diff --git a/subsys/bluetooth/controller/Kconfig.ll_sw_split b/subsys/bluetooth/controller/Kconfig.ll_sw_split
index 1f5b260f967..a7884d963bb 100644
--- a/subsys/bluetooth/controller/Kconfig.ll_sw_split
+++ b/subsys/bluetooth/controller/Kconfig.ll_sw_split
@@ -284,6 +284,27 @@ config BT_CTRL_ADV_ADI_IN_SCAN_RSP
 	help
 	  Enable ADI field in AUX_SCAN_RSP PDU
 
+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
+	help
+	  When AUX_ADV_IND or AUX_CHAIN_IND auxiliary channel PDU scan radio
+	  event overlaps Periodic Sync radio event in unreserved time space,
+	  let the Periodic Sync radio event be aborted so that the auxiliary
+	  channel PDU can be received to generate Extended Advertising Reports.
+
+	  By default we want Periodic Advertising Sync Events to take priority
+	  over any overlapping Extended Advertising Primary and Auxiliary
+	  channel PDU reception in order to not skip Periodic Advertising Report
+	  generation.
+
+	  But under simultaneous multiple Periodic Advertising Sync support with
+	  small Periodic Advertising Intervals where there will be a lot of
+	  overlapping Periodic Advertising Sync events, it is desirable to
+	  permit Extended Advertising auxiliary PDU reception be allowed in a
+	  round robin scheduling to skip the overlapping Periodic Advertising
+	  Sync event. This permits new Periodic Advertising peers be discovered.
+
 config BT_CTLR_SCAN_AUX_SET
 	int "LE Extended Scanning Auxiliary Sets"
 	depends on BT_OBSERVER && BT_CTLR_ADV_EXT
diff --git a/subsys/bluetooth/controller/ll_sw/nordic/lll/lll_sync.c b/subsys/bluetooth/controller/ll_sw/nordic/lll/lll_sync.c
index 3fffd128013..dcae61c8a5f 100644
--- a/subsys/bluetooth/controller/ll_sw/nordic/lll/lll_sync.c
+++ b/subsys/bluetooth/controller/ll_sw/nordic/lll/lll_sync.c
@@ -474,7 +474,8 @@ static int is_abort_cb(void *next, void *curr, lll_prepare_cb_t *resume_cb)
 			struct lll_scan_aux *lll_aux;
 
 			lll_aux = ull_scan_aux_lll_is_valid_get(next);
-			if (!lll_aux) {
+			if (IS_ENABLED(CONFIG_BT_CTLR_SYNC_PERIODIC_SKIP_ON_SCAN_AUX) ||
+			    !lll_aux) {
 				/* Abort current event as next event is not a
 				 * scan and not a scan aux event.
 				 */