diff --git a/include/nuttx/hrtimer.h b/include/nuttx/hrtimer.h
index bd8b05c2c52..f416cbb18d4 100644
--- a/include/nuttx/hrtimer.h
+++ b/include/nuttx/hrtimer.h
@@ -36,6 +36,18 @@
 #include <stdint.h>
 #include <sys/tree.h>
 
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/* The maximum delay tick should be INT64_MAX. However, if there are expired
+ * hrtimer in the queue, HRTIMER_TIME_BEFORE/AFTER might be incorrect, so we
+ * limited the delay to INT64_MAX >> 1, assuming all expired hrtimer can be
+ * processed within HRTIMER_MAX_DELAY.
+ */
+
+#define HRTIMER_MAX_DELAY              (INT64_MAX >> 1)
+
 /****************************************************************************
  * Public Types
  ****************************************************************************/
diff --git a/sched/hrtimer/hrtimer_start.c b/sched/hrtimer/hrtimer_start.c
index d270dd21eee..3f6b9e09118 100644
--- a/sched/hrtimer/hrtimer_start.c
+++ b/sched/hrtimer/hrtimer_start.c
@@ -64,9 +64,22 @@ int hrtimer_start(FAR hrtimer_t *hrtimer, hrtimer_entry_t func,
                   uint64_t expired,
                   enum hrtimer_mode_e mode)
 {
+  uint64_t next_expired;
   irqstate_t flags;
   int ret = OK;
 
+  /* Compute absolute expiration time */
+
+  if (mode == HRTIMER_MODE_ABS)
+    {
+      next_expired = expired;
+    }
+  else
+    {
+      expired = expired <= HRTIMER_MAX_DELAY ? expired : HRTIMER_MAX_DELAY;
+      next_expired = clock_systime_nsec() + expired;
+    }
+
   DEBUGASSERT(hrtimer != NULL);
 
   /* Protect container manipulation with spinlock and disable interrupts */
@@ -82,22 +95,8 @@ int hrtimer_start(FAR hrtimer_t *hrtimer, hrtimer_entry_t func,
       hrtimer_remove(hrtimer);
     }
 
-  hrtimer->func = func;
-
-  /* Compute absolute expiration time */
-
-  if (mode == HRTIMER_MODE_ABS)
-    {
-      hrtimer->expired = expired;
-    }
-  else
-    {
-      hrtimer->expired = clock_systime_nsec() + expired;
-    }
-
-  /* Ensure expiration time does not overflow */
-
-  DEBUGASSERT(hrtimer->expired >= expired);
+  hrtimer->func    = func;
+  hrtimer->expired = next_expired;
 
   /* Insert the timer into the container */