diff --git a/include/mqtt_client.h b/include/mqtt_client.h
index 0b4df874..e7afef1a 100644
--- a/include/mqtt_client.h
+++ b/include/mqtt_client.h
@@ -441,7 +441,7 @@ esp_err_t esp_mqtt_client_reconnect(esp_mqtt_client_handle_t client);
 esp_err_t esp_mqtt_client_disconnect(esp_mqtt_client_handle_t client);
 
 /**
- * @brief Stops *MQTT* client tasks
+ * @brief Stops *MQTT* client tasks (blocking, waits until stopped)
  *
  *  * Notes:
  *  - Cannot be called from the *MQTT* event handler
@@ -454,6 +454,33 @@ esp_err_t esp_mqtt_client_disconnect(esp_mqtt_client_handle_t client);
  */
 esp_err_t esp_mqtt_client_stop(esp_mqtt_client_handle_t client);
 
+/**
+ * @brief Stops *MQTT* client tasks non-blocking in the background
+ * Use esp_mqtt_client_is_stopped() to find out if its already
+ * stopped.
+ *
+ *  * Notes:
+ *  - Cannot be called from the *MQTT* event handler
+ *
+ * @param client    *MQTT* client handle
+ *
+ * @return ESP_OK on success
+ *         ESP_ERR_INVALID_ARG on wrong initialization
+ *         ESP_FAIL if client is in invalid state
+ */
+esp_err_t esp_mqtt_client_initiate_stop(esp_mqtt_client_handle_t client);
+
+/**
+ * @brief Returns if the *MQTT* client has already stopped
+ * This api should be used after esp_mqtt_client_initiate_stop()
+ * has been called.
+ *
+ * @param client    *MQTT* client handle
+ *
+ * @return if its stopped or not
+ */
+bool esp_mqtt_client_is_stopped(esp_mqtt_client_handle_t client);
+
 #ifdef __cplusplus
 
 #define esp_mqtt_client_subscribe esp_mqtt_client_subscribe_single
diff --git a/mqtt_client.c b/mqtt_client.c
index b70f5180..ad6dd4a1 100644
--- a/mqtt_client.c
+++ b/mqtt_client.c
@@ -1914,6 +1914,14 @@ static esp_err_t send_disconnect_msg(esp_mqtt_client_handle_t client)
 }
 
 esp_err_t esp_mqtt_client_stop(esp_mqtt_client_handle_t client)
+{
+    esp_err_t result = esp_mqtt_client_initiate_stop(client);
+    if (result == ESP_OK)
+        xEventGroupWaitBits(client->status_bits, STOPPED_BIT, false, true, portMAX_DELAY);
+    return result;
+}
+
+esp_err_t esp_mqtt_client_initiate_stop(esp_mqtt_client_handle_t client)
 {
     if (!client) {
         ESP_LOGE(TAG, "Client was not initialized");
@@ -1940,7 +1948,7 @@ esp_err_t esp_mqtt_client_stop(esp_mqtt_client_handle_t client)
         client->run = false;
         client->state = MQTT_STATE_DISCONNECTED;
         MQTT_API_UNLOCK(client);
-        xEventGroupWaitBits(client->status_bits, STOPPED_BIT, false, true, portMAX_DELAY);
+
         return ESP_OK;
     } else {
         ESP_LOGW(TAG, "Client asked to stop, but was not started");
@@ -1949,6 +1957,17 @@ esp_err_t esp_mqtt_client_stop(esp_mqtt_client_handle_t client)
     }
 }
 
+bool esp_mqtt_client_is_stopped(esp_mqtt_client_handle_t client)
+{
+    if (!client) {
+        ESP_LOGE(TAG, "Client was not initialized");
+        return ESP_ERR_INVALID_ARG;
+    }
+
+    EventBits_t bits = xEventGroupClearBits(client->status_bits, 0);
+    return bits & STOPPED_BIT;
+}
+
 static esp_err_t esp_mqtt_client_ping(esp_mqtt_client_handle_t client)
 {
     mqtt_msg_pingreq(&client->mqtt_state.connection);