diff --git a/drivers/wifi/esp_at/esp.h b/drivers/wifi/esp_at/esp.h
index 52cda02bc13..bbdf339da0b 100644
--- a/drivers/wifi/esp_at/esp.h
+++ b/drivers/wifi/esp_at/esp.h
@@ -165,8 +165,12 @@ struct esp_socket {
 	/* work */
 	struct k_work connect_work;
 	struct k_work recvdata_work;
+	struct k_work send_work;
 	struct k_work close_work;
 
+	/* TX packets fifo */
+	struct k_fifo tx_fifo;
+
 	/* net context */
 	struct net_context *context;
 	net_context_connect_cb_t connect_cb;
@@ -335,6 +339,22 @@ static inline int esp_socket_work_submit(struct esp_socket *sock,
 	return ret;
 }
 
+static inline int esp_socket_queue_tx(struct esp_socket *sock,
+				      struct net_pkt *pkt)
+{
+	int ret = -EBUSY;
+
+	k_mutex_lock(&sock->lock, K_FOREVER);
+	if (!(esp_socket_flags(sock) & ESP_SOCK_WORKQ_STOPPED)) {
+		k_fifo_put(&sock->tx_fifo, pkt);
+		__esp_socket_work_submit(sock, &sock->send_work);
+		ret = 0;
+	}
+	k_mutex_unlock(&sock->lock);
+
+	return ret;
+}
+
 static inline bool esp_socket_connected(struct esp_socket *sock)
 {
 	return (esp_socket_flags(sock) & ESP_SOCK_CONNECTED) != 0;
@@ -378,6 +398,7 @@ static inline int esp_cmd_send(struct esp_data *data,
 void esp_connect_work(struct k_work *work);
 void esp_recvdata_work(struct k_work *work);
 void esp_close_work(struct k_work *work);
+void esp_send_work(struct k_work *work);
 
 #ifdef __cplusplus
 }
diff --git a/drivers/wifi/esp_at/esp_offload.c b/drivers/wifi/esp_at/esp_offload.c
index f60d7ceac50..23867c1ea7d 100644
--- a/drivers/wifi/esp_at/esp_offload.c
+++ b/drivers/wifi/esp_at/esp_offload.c
@@ -290,24 +290,32 @@ out:
 	return ret;
 }
 
-static void esp_send_work(struct k_work *work)
+void esp_send_work(struct k_work *work)
 {
-	struct net_pkt *pkt = CONTAINER_OF(work, struct net_pkt, work);
-	struct net_context *context = pkt->context;
-	struct esp_socket *sock = context->offload_context;
+	struct esp_socket *sock = CONTAINER_OF(work, struct esp_socket,
+					       send_work);
+	struct net_context *context = sock->context;
+	struct net_pkt *pkt;
 	int ret = 0;
 
-	ret = _sock_send(sock, pkt);
-	if (ret < 0) {
-		LOG_ERR("Failed to send data: link %d, ret %d", sock->link_id,
-			ret);
-	}
+	while (true) {
+		pkt = k_fifo_get(&sock->tx_fifo, K_NO_WAIT);
+		if (!pkt) {
+			break;
+		}
 
-	if (context->send_cb) {
-		context->send_cb(context, ret, context->user_data);
-	}
+		ret = _sock_send(sock, pkt);
+		if (ret < 0) {
+			LOG_ERR("Failed to send data: link %d, ret %d",
+				sock->link_id, ret);
+		}
 
-	net_pkt_unref(pkt);
+		if (context->send_cb) {
+			context->send_cb(context, ret, context->user_data);
+		}
+
+		net_pkt_unref(pkt);
+	}
 }
 
 static int esp_sendto(struct net_pkt *pkt,
@@ -359,10 +367,7 @@ static int esp_sendto(struct net_pkt *pkt,
 		}
 	}
 
-	k_work_init(&pkt->work, esp_send_work);
-	esp_socket_work_submit(sock, &pkt->work);
-
-	return 0;
+	return esp_socket_queue_tx(sock, pkt);
 }
 
 static int esp_send(struct net_pkt *pkt,
diff --git a/drivers/wifi/esp_at/esp_socket.c b/drivers/wifi/esp_at/esp_socket.c
index 5c805f7b9b5..7c5394d5d51 100644
--- a/drivers/wifi/esp_at/esp_socket.c
+++ b/drivers/wifi/esp_at/esp_socket.c
@@ -93,6 +93,8 @@ void esp_socket_init(struct esp_data *data)
 		k_work_init(&sock->connect_work, esp_connect_work);
 		k_work_init(&sock->recvdata_work, esp_recvdata_work);
 		k_work_init(&sock->close_work, esp_close_work);
+		k_work_init(&sock->send_work, esp_send_work);
+		k_fifo_init(&sock->tx_fifo);
 	}
 }