diff --git a/drivers/stmpe811/stmpe811.c b/drivers/stmpe811/stmpe811.c
index fb5aa73f50..ed0b0939a1 100644
--- a/drivers/stmpe811/stmpe811.c
+++ b/drivers/stmpe811/stmpe811.c
@@ -46,6 +46,23 @@
 #define ADDR                (dev->params.addr)
 #endif
 
+#ifndef STMPE811_FIFO_THRESHOLD_ENABLED
+#define STMPE811_FIFO_THRESHOLD_ENABLED    (0)
+#endif
+
+/* The driver only works reliably with FIFO threshold interrupts if the FIFO
+ * threshold is at least 2. The reason is that all interrupts are cleared when
+ * the status is checked in `stmpe811_read_touch_state` but the FIFO Threshold
+ * interrupt is asserted again immediately since the FIFO is not read so that
+ * a new interrupt is pending. On the other hand, the Touch Detected interrupt
+ * does not work reliably for the release event if only the Touch Detected
+ * interrupt in `stmpe811_read_touch_state` is cleared. The workaround is
+ * to set the FIFO threshold to at least 2 to introduce a small delay between
+ * the Touch Detect interrupt on a touch and the first FIFO threshold
+ * interrupt. */
+#ifndef STMPE811_FIFO_THRESHOLD
+#define STMPE811_FIFO_THRESHOLD     (STMPE811_FIFO_THRESHOLD_ENABLED ? 2 : 1)
+#endif
 
 #if IS_USED(MODULE_STMPE811_SPI) /* using SPI mode */
 static inline void _acquire(const stmpe811_t *dev)
@@ -194,7 +211,7 @@ int stmpe811_init(stmpe811_t *dev, const stmpe811_params_t *params, stmpe811_eve
     }
 
     /* check mode configuration */
-    if(_stmpe811_check_mode(dev) != 0) {
+    if (_stmpe811_check_mode(dev) != 0) {
         DEBUG("[stmpe811] error: couldn't setup SPI\n");
         return -EIO;
     }
@@ -257,7 +274,7 @@ int stmpe811_init(stmpe811_t *dev, const stmpe811_params_t *params, stmpe811_eve
     ret += _write_reg(dev, STMPE811_TSC_CFG, reg);
 
     /* set fifo threshold */
-    ret += _write_reg(dev, STMPE811_FIFO_TH, 0x01);
+    ret += _write_reg(dev, STMPE811_FIFO_TH, STMPE811_FIFO_THRESHOLD);
 
     /* reset fifo */
     _reset_fifo(dev);
@@ -285,7 +302,9 @@ int stmpe811_init(stmpe811_t *dev, const stmpe811_params_t *params, stmpe811_eve
         gpio_init_int(dev->params.int_pin, GPIO_IN, GPIO_FALLING, cb, arg);
 
         /* Enable touchscreen interrupt */
-        ret += _write_reg(dev, STMPE811_INT_EN, STMPE811_INT_EN_TOUCH_DET);
+        ret += _write_reg(dev, STMPE811_INT_EN,
+                          STMPE811_INT_EN_TOUCH_DET |
+                          (STMPE811_FIFO_THRESHOLD_ENABLED ? STMPE811_INT_EN_FIFO_TH : 0));
 
         /* Enable global interrupt */
         ret += _write_reg(dev, STMPE811_INT_CTRL,