diff --git a/components/freertos/Kconfig b/components/freertos/Kconfig
index ad975c6510e..25de7e73c79 100644
--- a/components/freertos/Kconfig
+++ b/components/freertos/Kconfig
@@ -141,18 +141,25 @@ menu "FreeRTOS"
 
     choice FREERTOS_ASSERT
         prompt "FreeRTOS assertions"
-        default FREERTOS_ASSERT_FAIL_ABORT
+        default FREERTOS_ASSERT_FAIL_ABORT if !COMPILER_OPTIMIZATION_ASSERTIONS_DISABLE
+        default FREERTOS_ASSERT_DISABLE if COMPILER_OPTIMIZATION_ASSERTIONS_DISABLE
         help
             Failed FreeRTOS configASSERT() assertions can be configured to
             behave in different ways.
 
+            By default these behave the same as the global project assert settings.
+
         config FREERTOS_ASSERT_FAIL_ABORT
             bool "abort() on failed assertions"
+            depends on !COMPILER_OPTIMIZATION_ASSERTIONS_DISABLE
             help
                 If a FreeRTOS configASSERT() fails, FreeRTOS will abort() and
                 halt execution. The panic handler can be configured to handle
                 the outcome of an abort() in different ways.
 
+                If assertions are disabled for the entire project, they are also
+                disabled in FreeRTOS and this option is unavailable.
+
         config FREERTOS_ASSERT_FAIL_PRINT_CONTINUE
             bool "Print and continue failed assertions"
             help
diff --git a/components/freertos/port/riscv/include/freertos/FreeRTOSConfig.h b/components/freertos/port/riscv/include/freertos/FreeRTOSConfig.h
index 83d8e8bfe8d..f9229d774ad 100644
--- a/components/freertos/port/riscv/include/freertos/FreeRTOSConfig.h
+++ b/components/freertos/port/riscv/include/freertos/FreeRTOSConfig.h
@@ -88,7 +88,7 @@
 
 /* configASSERT behaviour */
 #ifndef __ASSEMBLER__
-#include <stdlib.h> /* for abort() */
+#include <assert.h>
 #include "esp32c3/rom/ets_sys.h"
 
 #if defined(CONFIG_FREERTOS_ASSERT_DISABLE)
@@ -98,12 +98,8 @@
         esp_rom_printf("%s:%d (%s)- assert failed!\n", __FILE__, __LINE__,  \
                    __FUNCTION__);                                           \
     }
-#else /* CONFIG_FREERTOS_ASSERT_FAIL_ABORT */
-#define configASSERT(a) if (unlikely(!(a))) {                               \
-        esp_rom_printf("%s:%d (%s)- assert failed!\n", __FILE__, __LINE__,  \
-                   __FUNCTION__);                                           \
-        abort();                                                            \
-        }
+#elif defined(CONFIG_FREERTOS_ASSERT_FAIL_ABORT)
+#define configASSERT(a) assert(a)
 #endif
 
 #if CONFIG_FREERTOS_ASSERT_ON_UNTESTED_FUNCTION
diff --git a/components/freertos/port/xtensa/include/freertos/FreeRTOSConfig.h b/components/freertos/port/xtensa/include/freertos/FreeRTOSConfig.h
index 7b7d69437ff..e116fad82f0 100644
--- a/components/freertos/port/xtensa/include/freertos/FreeRTOSConfig.h
+++ b/components/freertos/port/xtensa/include/freertos/FreeRTOSConfig.h
@@ -119,7 +119,7 @@ int xt_clock_freq(void) __attribute__((deprecated));
 
 /* configASSERT behaviour */
 #ifndef __ASSEMBLER__
-#include <stdlib.h> /* for abort() */
+#include <assert.h>
 #include "esp_rom_sys.h"
 #if CONFIG_IDF_TARGET_ESP32
 #include "esp32/rom/ets_sys.h"  // will be removed in idf v5.0
@@ -138,12 +138,8 @@ int xt_clock_freq(void) __attribute__((deprecated));
         esp_rom_printf("%s:%d (%s)- assert failed!\n", __FILE__, __LINE__,  \
                    __FUNCTION__);                                           \
     }
-#else /* CONFIG_FREERTOS_ASSERT_FAIL_ABORT */
-#define configASSERT(a) if (unlikely(!(a))) {                               \
-        esp_rom_printf("%s:%d (%s)- assert failed!\n", __FILE__, __LINE__,  \
-                   __FUNCTION__);                                           \
-        abort();                                                            \
-        }
+#elif defined(CONFIG_FREERTOS_ASSERT_FAIL_ABORT)
+#define configASSERT(a) assert(a)
 #endif
 
 #if CONFIG_FREERTOS_ASSERT_ON_UNTESTED_FUNCTION