diff --git a/core/lib/assert.c b/core/lib/assert.c
index 002aed0bda..73558e8cf9 100644
--- a/core/lib/assert.c
+++ b/core/lib/assert.c
@@ -19,34 +19,42 @@
 #include "architecture.h"
 #include "cpu.h"
 #include "debug.h"
+#include "irq.h"
 #include "panic.h"
 #if IS_USED(MODULE_BACKTRACE)
 #include "backtrace.h"
 #endif
 
-__NORETURN void _assert_failure(const char *file, unsigned line)
+__NORETURN static inline void _assert_common(void)
 {
-    printf("%s:%u => ", file, line);
 #if IS_USED(MODULE_BACKTRACE)
+#ifdef DEBUG_ASSERT_VERBOSE
     printf("failed assertion. Backtrace:\n");
+#endif
     backtrace_print();
 #endif
 #ifdef DEBUG_ASSERT_BREAKPOINT
     DEBUG_BREAKPOINT(1);
 #endif
+    if (DEBUG_ASSERT_NO_PANIC && !irq_is_in() && irq_is_enabled()) {
+        puts("FAILED ASSERTION.");
+        while (1) {
+            thread_sleep();
+        }
+    }
     core_panic(PANIC_ASSERT_FAIL, "FAILED ASSERTION.");
 }
 
+__NORETURN void _assert_failure(const char *file, unsigned line)
+{
+    printf("%s:%u => ", file, line);
+    _assert_common();
+}
+
 __NORETURN void _assert_panic(void)
 {
     printf("%" PRIxTXTPTR "\n", cpu_get_caller_pc());
-#if IS_USED(MODULE_BACKTRACE)
-    backtrace_print();
-#endif
-#ifdef DEBUG_ASSERT_BREAKPOINT
-    DEBUG_BREAKPOINT(1);
-#endif
-    core_panic(PANIC_ASSERT_FAIL, "FAILED ASSERTION.");
+    _assert_common();
 }
 
 /** @} */
diff --git a/core/lib/include/assert.h b/core/lib/include/assert.h
index 55bfd29386..665813c92c 100644
--- a/core/lib/include/assert.h
+++ b/core/lib/include/assert.h
@@ -157,6 +157,15 @@ __NORETURN void _assert_panic(void);
 #endif
 #endif
 
+/**
+ * @brief   Don't panic on a failed assertion, just halt the running thread.
+ *
+ * If the assertion failed in an interrupt, the system will still panic.
+ */
+#ifndef DEBUG_ASSERT_NO_PANIC
+#define DEBUG_ASSERT_NO_PANIC (1)
+#endif
+
 #ifdef __cplusplus
 }
 #endif
diff --git a/examples/dtls-wolfssl/Makefile.ci b/examples/dtls-wolfssl/Makefile.ci
index 4783cb20a8..7c669944d1 100644
--- a/examples/dtls-wolfssl/Makefile.ci
+++ b/examples/dtls-wolfssl/Makefile.ci
@@ -35,6 +35,7 @@ BOARD_INSUFFICIENT_MEMORY := \
     nucleo-l031k6 \
     nucleo-l053r8 \
     nucleo-l412kb \
+    maple-mini \
     olimexino-stm32 \
     opencm904 \
     samd10-xmini \