diff --git a/drivers/sensors/sensor_rpmsg.c b/drivers/sensors/sensor_rpmsg.c
index d7a7a18cade3c..232c2be122a96 100644
--- a/drivers/sensors/sensor_rpmsg.c
+++ b/drivers/sensors/sensor_rpmsg.c
@@ -1049,7 +1049,7 @@ static int sensor_rpmsg_sub_handler(FAR struct rpmsg_endpoint *ept,
   int ret;
 
   dev = sensor_rpmsg_find_dev(msg->path);
-  if (!dev)
+  if (!dev || (dev->nadvertisers == 0 && !dev->lower.persist))
     {
       return 0;
     }