diff --git a/libs/libc/time/lib_nanosleep.c b/libs/libc/time/lib_nanosleep.c
index 58ca2034307..1d74f9036b2 100644
--- a/libs/libc/time/lib_nanosleep.c
+++ b/libs/libc/time/lib_nanosleep.c
@@ -24,6 +24,7 @@
 
 #include <nuttx/config.h>
 
+#include <errno.h>
 #include <time.h>
 
 /****************************************************************************
@@ -80,10 +81,22 @@
 
 int nanosleep(FAR const struct timespec *rqtp, FAR struct timespec *rmtp)
 {
+  int ret;
+
   /* Calling clock_nanosleep() with the value TIMER_ABSTIME not set in the
    * flags argument and with a clock_id of CLOCK_REALTIME is equivalent t
    * calling nanosleep() with the same rqtp and rmtp arguments.
+   * As clock_nanosleep() method return errno on fail, which is not
+   * compatible with nanosleep(), the nanosleep() need to return -1 on fail,
+   * so we need to convert the return value.
    */
 
-  return clock_nanosleep(CLOCK_REALTIME, 0, rqtp, rmtp);
+  ret = clock_nanosleep(CLOCK_REALTIME, 0, rqtp, rmtp);
+  if (ret != 0)
+    {
+      set_errno(ret);
+      ret = ERROR;
+    }
+
+  return ret;
 }
diff --git a/sched/signal/sig_nanosleep.c b/sched/signal/sig_nanosleep.c
index ecab0dfad08..8fca6f9f7b2 100644
--- a/sched/signal/sig_nanosleep.c
+++ b/sched/signal/sig_nanosleep.c
@@ -244,12 +244,13 @@ int nxsig_nanosleep(FAR const struct timespec *rqtp,
  *   actually slept). If the rmtp argument is NULL, the remaining time is not
  *   returned.
  *
- *   If clock_nanosleep() fails, it returns a value of -1 and sets errno to
- *   indicate the error. The clock_nanosleep() function will fail if:
+ *   If clock_nanosleep() fails, it returns a value of errno. The
+ *   clock_nanosleep() function will fail if:
  *
  *     EINTR - The clock_nanosleep() function was interrupted by a signal.
  *     EINVAL - The rqtp argument specified a nanosecond value less than
- *       zero or greater than or equal to 1000 million.
+ *       zero or greater than or equal to 1000 million. Or the clockid that
+ *       does not specify a known clock.
  *     ENOSYS - The clock_nanosleep() function is not supported by this
  *       implementation.
  *
@@ -265,6 +266,12 @@ int clock_nanosleep(clockid_t clockid, int flags,
 
   enter_cancellation_point();
 
+  if (clockid < CLOCK_REALTIME || clockid > CLOCK_BOOTTIME)
+    {
+      leave_cancellation_point();
+      return EINVAL;
+    }
+
   /* Check if absolute time is selected */
 
   if ((flags & TIMER_ABSTIME) != 0)
@@ -286,7 +293,7 @@ int clock_nanosleep(clockid_t clockid, int flags,
 
           leave_critical_section(irqstate);
           leave_cancellation_point();
-          return ERROR;
+          return -ret;
         }
 
       clock_timespec_subtract(rqtp, &now, &reltime);
@@ -312,10 +319,9 @@ int clock_nanosleep(clockid_t clockid, int flags,
 
   if (ret < 0)
     {
-      /* If not set the errno variable and return -1 */
+      /* If not return the errno */
 
-      set_errno(-ret);
-      ret = ERROR;
+      ret = -ret;
     }
 
   leave_cancellation_point();