diff --git a/components/esp_timer/test_apps/main/test_esp_timer.c b/components/esp_timer/test_apps/main/test_esp_timer.c
index 31976d26feb..4f534a08ecd 100644
--- a/components/esp_timer/test_apps/main/test_esp_timer.c
+++ b/components/esp_timer/test_apps/main/test_esp_timer.c
@@ -885,11 +885,17 @@ TEST_CASE("Test a latency between a call of callback and real event", "[esp_time
         }
         int diff = callback_time - expected_time;
         esp_rom_printf(DRAM_STR("%d us\n"), diff);
+
 #ifndef CONFIG_IDF_ENV_FPGA
         if (i != 0) {
+#if CONFIG_IDF_TARGET_ESP32H4
+            // H4 runs this test at 96 MHz, and multicore task dispatch adds extra latency.
+            const int max_latency_us = 60;
+#else
+            const int max_latency_us = 50;
+#endif
             // skip the first measurement
-            // if CPU_FREQ = 240MHz. 14 - 16us
-            TEST_ASSERT_LESS_OR_EQUAL(50, diff);
+            TEST_ASSERT_LESS_OR_EQUAL(max_latency_us, diff);
         }
 #endif // not CONFIG_IDF_ENV_FPGA
     }