diff --git a/core/lib/assert.c b/core/lib/assert.c
index fb4ff644bf..73558e8cf9 100644
--- a/core/lib/assert.c
+++ b/core/lib/assert.c
@@ -19,6 +19,7 @@
 #include "architecture.h"
 #include "cpu.h"
 #include "debug.h"
+#include "irq.h"
 #include "panic.h"
 #if IS_USED(MODULE_BACKTRACE)
 #include "backtrace.h"
@@ -35,6 +36,12 @@ __NORETURN static inline void _assert_common(void)
 #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.");
 }
 
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