diff --git a/examples/bluetooth/bluedroid/classic_bt/hfp_hf/main/bt_app_hf.c b/examples/bluetooth/bluedroid/classic_bt/hfp_hf/main/bt_app_hf.c
index ccd365f56fc..dbe705549ee 100644
--- a/examples/bluetooth/bluedroid/classic_bt/hfp_hf/main/bt_app_hf.c
+++ b/examples/bluetooth/bluedroid/classic_bt/hfp_hf/main/bt_app_hf.c
@@ -170,6 +170,7 @@ const char *c_inband_ring_state_str[] = {
 };
 
 extern esp_bd_addr_t peer_addr;
+extern bool hf_client_connected;
 // If you want to connect a specific device, add it's address here
 // esp_bd_addr_t peer_addr = {0xac, 0x67, 0xb2, 0x53, 0x77, 0xbe};
 
@@ -245,6 +246,11 @@ void bt_app_hf_client_cb(esp_hf_client_cb_event_t event, esp_hf_client_cb_param_
                     param->conn_stat.peer_feat,
                     param->conn_stat.chld_feat);
             memcpy(peer_addr,param->conn_stat.remote_bda,ESP_BD_ADDR_LEN);
+            if (param->conn_stat.state == ESP_HF_CLIENT_CONNECTION_STATE_CONNECTED) {
+                hf_client_connected = true;
+            } else if (param->conn_stat.state == ESP_HF_CLIENT_CONNECTION_STATE_DISCONNECTED) {
+                hf_client_connected = false;
+            }
             break;
         }
 
diff --git a/examples/bluetooth/bluedroid/classic_bt/hfp_hf/main/main.c b/examples/bluetooth/bluedroid/classic_bt/hfp_hf/main/main.c
index 88df9180ef2..d39354c8e5e 100644
--- a/examples/bluetooth/bluedroid/classic_bt/hfp_hf/main/main.c
+++ b/examples/bluetooth/bluedroid/classic_bt/hfp_hf/main/main.c
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2021-2024 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2021-2026 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Unlicense OR CC0-1.0
  */
@@ -28,10 +28,14 @@
 #endif
 #include "app_hf_msg_set.h"
 
+#define HF_INQUIRY_LEN 30
+
 esp_bd_addr_t peer_addr = {0};
+bool hf_client_connected = false;
 static char peer_bdname[ESP_BT_GAP_MAX_BDNAME_LEN + 1];
 static uint8_t peer_bdname_len;
 static const char remote_device_name[] = CONFIG_EXAMPLE_PEER_DEVICE_NAME;
+static bool s_peer_device_found = false;
 
 static char *bda2str(esp_bd_addr_t bda, char *str, size_t size)
 {
@@ -85,6 +89,7 @@ void esp_bt_gap_cb(esp_bt_gap_cb_event_t event, esp_bt_gap_cb_param_t *param)
             if (param->disc_res.prop[i].type == ESP_BT_GAP_DEV_PROP_EIR
                 && get_name_from_eir(param->disc_res.prop[i].val, peer_bdname, &peer_bdname_len)){
                 if (strcmp(peer_bdname, remote_device_name) == 0) {
+                    s_peer_device_found = true;
                     memcpy(peer_addr, param->disc_res.bda, ESP_BD_ADDR_LEN);
                     ESP_LOGI(BT_HF_TAG, "Found a target device address:");
                     esp_log_buffer_hex(BT_HF_TAG, peer_addr, ESP_BD_ADDR_LEN);
@@ -99,6 +104,11 @@ void esp_bt_gap_cb(esp_bt_gap_cb_event_t event, esp_bt_gap_cb_param_t *param)
     }
     case ESP_BT_GAP_DISC_STATE_CHANGED_EVT:
         ESP_LOGI(BT_HF_TAG, "ESP_BT_GAP_DISC_STATE_CHANGED_EVT");
+        if (param->disc_st_chg.state == ESP_BT_GAP_DISCOVERY_STOPPED && !s_peer_device_found && !hf_client_connected) {
+            ESP_LOGI(BT_HF_TAG, "Device discovery failed, continue to discover...");
+            esp_bt_gap_start_discovery(ESP_BT_INQ_MODE_GENERAL_INQUIRY, HF_INQUIRY_LEN, 0);
+        }
+        break;
     case ESP_BT_GAP_RMT_SRVCS_EVT:
     case ESP_BT_GAP_RMT_SRVC_REC_EVT:
         break;
@@ -276,7 +286,7 @@ static void bt_hf_client_hdl_stack_evt(uint16_t event, void *p_param)
 
         /* start device discovery */
         ESP_LOGI(BT_HF_TAG, "Starting device discovery...");
-        esp_bt_gap_start_discovery(ESP_BT_INQ_MODE_GENERAL_INQUIRY, 10, 0);
+        esp_bt_gap_start_discovery(ESP_BT_INQ_MODE_GENERAL_INQUIRY, HF_INQUIRY_LEN, 0);
         break;
     }
     default: