diff --git a/Documentation/reference/os/time_clock.rst b/Documentation/reference/os/time_clock.rst
index 573d5476f49..c9b53defad5 100644
--- a/Documentation/reference/os/time_clock.rst
+++ b/Documentation/reference/os/time_clock.rst
@@ -494,7 +494,7 @@ with NuttX tasks.
 - :c:func:`wd_gettime`
 - Watchdog Timer Callback
 
-.. c:function:: int wd_start(FAR struct wdog_s *wdog, int delay, \
+.. c:function:: int wd_start(FAR struct wdog_s *wdog, clock_t delay, \
                  wdentry_t wdentry, wdparm_t arg)
 
   This function adds a watchdog to the timer queue.
diff --git a/include/nuttx/wdog.h b/include/nuttx/wdog.h
index 7ea0a602781..2e36047e341 100644
--- a/include/nuttx/wdog.h
+++ b/include/nuttx/wdog.h
@@ -39,7 +39,20 @@
  ****************************************************************************/
 
 #define WDOG_ISACTIVE(w)   ((w)->func != NULL)
-#define WDOG_MAX_DELAY     ((CLOCK_MAX) / 2 - 1)
+
+/* The maximum delay tick are supposed to be CLOCK_MAX >> 1.
+ * However, if there are expired wdog timers in the wdog queue,
+ * clock_compare might be incorrect when the delay is CLOCK_MAX >> 1.
+ * e.g. Current tick is 123, and there is an expired wdog timer with the
+ * expired ticks 100. If we insert a wdog timer with delay CLOCK_MAX >> 1,
+ * Then clock_compare(100, 123 + CLOCK_MAX >> 1) will return false, leading
+ * to the new wdog timer queued before the expired wdog timer.
+ * So we limited the delay to CLOCK_MAX >> 2, which is 2^30 - 1 or 2^62 - 1.
+ * Assuming all expired wdog timer can be processed within WDOG_MAX_DELAY
+ * ticks, this ensure the correct enqueue of the wdog timer.
+ */
+
+#define WDOG_MAX_DELAY     (CLOCK_MAX >> 2)
 
 /****************************************************************************
  * Public Type Declarations
@@ -141,7 +154,7 @@ extern "C"
  *
  ****************************************************************************/
 
-int wd_start(FAR struct wdog_s *wdog, sclock_t delay,
+int wd_start(FAR struct wdog_s *wdog, clock_t delay,
              wdentry_t wdentry, wdparm_t arg);
 
 /****************************************************************************
@@ -307,7 +320,7 @@ static inline int wd_start_realtime(FAR struct wdog_s *wdog,
  *
  ****************************************************************************/
 
-int wd_start_period(FAR struct wdog_period_s *wdog, sclock_t delay,
+int wd_start_period(FAR struct wdog_period_s *wdog, clock_t delay,
                     clock_t period, wdentry_t wdentry, wdparm_t arg);
 
 /****************************************************************************
diff --git a/sched/wdog/wd_start.c b/sched/wdog/wd_start.c
index eed0c34a839..147f3c7a269 100644
--- a/sched/wdog/wd_start.c
+++ b/sched/wdog/wd_start.c
@@ -406,12 +406,12 @@ int wd_start_abstick(FAR struct wdog_s *wdog, clock_t ticks,
  *
  ****************************************************************************/
 
-int wd_start(FAR struct wdog_s *wdog, sclock_t delay,
+int wd_start(FAR struct wdog_s *wdog, clock_t delay,
              wdentry_t wdentry, wdparm_t arg)
 {
-  /* Verify the wdog and setup parameters */
+  /* Ensure delay is within the range the wdog can handle. */
 
-  if (delay < 0)
+  if (delay > WDOG_MAX_DELAY)
     {
       return -EINVAL;
     }
@@ -444,7 +444,7 @@ int wd_start(FAR struct wdog_s *wdog, sclock_t delay,
  *
  ****************************************************************************/
 
-int wd_start_period(FAR struct wdog_period_s *wdog, sclock_t delay,
+int wd_start_period(FAR struct wdog_period_s *wdog, clock_t delay,
                     clock_t period, wdentry_t wdentry, wdparm_t arg)
 {
   if (!wdog || !period || !wdentry)