diff --git a/include/net/bluetooth/hci.h b/include/net/bluetooth/hci.h
index 63f84e185..a84102ad5 100644
--- a/include/net/bluetooth/hci.h
+++ b/include/net/bluetooth/hci.h
@@ -437,6 +437,7 @@ enum {
 #define HCI_ACL_TX_TIMEOUT	msecs_to_jiffies(45000)	/* 45 seconds */
 #define HCI_AUTO_OFF_TIMEOUT	msecs_to_jiffies(2000)	/* 2 seconds */
 #define HCI_POWER_OFF_TIMEOUT	msecs_to_jiffies(5000)	/* 5 seconds */
+#define HCI_ACL_CONN_TIMEOUT	msecs_to_jiffies(20000)	/* 20 seconds */
 #define HCI_LE_CONN_TIMEOUT	msecs_to_jiffies(20000)	/* 20 seconds */
 #define HCI_LE_AUTOCONN_TIMEOUT	msecs_to_jiffies(4000)	/* 4 seconds */
 
diff --git a/include/net/bluetooth/hci_sync.h b/include/net/bluetooth/hci_sync.h
index 57eeb07ae..2bc3235f3 100644
--- a/include/net/bluetooth/hci_sync.h
+++ b/include/net/bluetooth/hci_sync.h
@@ -136,3 +136,6 @@ int hci_le_terminate_big_sync(struct hci_dev *hdev, u8 handle, u8 reason);
 int hci_le_big_terminate_sync(struct hci_dev *hdev, u8 handle);
 
 int hci_le_pa_terminate_sync(struct hci_dev *hdev, u16 handle);
+
+int hci_acl_create_connection_sync(struct hci_dev *hdev,
+				   struct hci_conn *conn);
diff --git a/net/bluetooth/hci_conn.c b/net/bluetooth/hci_conn.c
index 73470cc35..c9a5734fc 100644
--- a/net/bluetooth/hci_conn.c
+++ b/net/bluetooth/hci_conn.c
@@ -178,64 +178,6 @@ static void hci_conn_cleanup(struct hci_conn *conn)
 	hci_conn_put(conn);
 }
 
-static void hci_acl_create_connection(struct hci_conn *conn)
-{
-	struct hci_dev *hdev = conn->hdev;
-	struct inquiry_entry *ie;
-	struct hci_cp_create_conn cp;
-
-	BT_DBG("hcon %p", conn);
-
-	/* Many controllers disallow HCI Create Connection while it is doing
-	 * HCI Inquiry. So we cancel the Inquiry first before issuing HCI Create
-	 * Connection. This may cause the MGMT discovering state to become false
-	 * without user space's request but it is okay since the MGMT Discovery
-	 * APIs do not promise that discovery should be done forever. Instead,
-	 * the user space monitors the status of MGMT discovering and it may
-	 * request for discovery again when this flag becomes false.
-	 */
-	if (test_bit(HCI_INQUIRY, &hdev->flags)) {
-		/* Put this connection to "pending" state so that it will be
-		 * executed after the inquiry cancel command complete event.
-		 */
-		conn->state = BT_CONNECT2;
-		hci_send_cmd(hdev, HCI_OP_INQUIRY_CANCEL, 0, NULL);
-		return;
-	}
-
-	conn->state = BT_CONNECT;
-	conn->out = true;
-	conn->role = HCI_ROLE_MASTER;
-
-	conn->attempt++;
-
-	conn->link_policy = hdev->link_policy;
-
-	memset(&cp, 0, sizeof(cp));
-	bacpy(&cp.bdaddr, &conn->dst);
-	cp.pscan_rep_mode = 0x02;
-
-	ie = hci_inquiry_cache_lookup(hdev, &conn->dst);
-	if (ie) {
-		if (inquiry_entry_age(ie) <= INQUIRY_ENTRY_AGE_MAX) {
-			cp.pscan_rep_mode = ie->data.pscan_rep_mode;
-			cp.pscan_mode     = ie->data.pscan_mode;
-			cp.clock_offset   = ie->data.clock_offset |
-					    cpu_to_le16(0x8000);
-		}
-
-		memcpy(conn->dev_class, ie->data.dev_class, 3);
-	}
-
-	cp.pkt_type = cpu_to_le16(conn->pkt_type);
-	if (lmp_rswitch_capable(hdev) && !(hdev->link_mode & HCI_LM_MASTER))
-		cp.role_switch = 0x01;
-	else
-		cp.role_switch = 0x00;
-
-	hci_send_cmd(hdev, HCI_OP_CREATE_CONN, sizeof(cp), &cp);
-}
-
 int hci_disconnect(struct hci_conn *conn, __u8 reason)
 {
 	BT_DBG("hcon %p", conn);
@@ -1647,10 +1589,17 @@ struct hci_conn *hci_connect_acl(struct hci_dev *hdev, bdaddr_t *dst,
 
 	acl->conn_reason = conn_reason;
 	if (acl->state == BT_OPEN || acl->state == BT_CLOSED) {
+		int err;
+
 		acl->sec_level = BT_SECURITY_LOW;
 		acl->pending_sec_level = sec_level;
 		acl->auth_type = auth_type;
-		hci_acl_create_connection(acl);
+
+		err = hci_acl_create_connection_sync(hdev, acl);
+		if (err) {
+			hci_conn_del(acl);
+			return ERR_PTR(err);
+		}
 	}
 
 	return acl;
@@ -2580,7 +2529,7 @@ void hci_conn_check_pending(struct hci_dev *hdev)
 
 	conn = hci_conn_hash_lookup_state(hdev, ACL_LINK, BT_CONNECT2);
 	if (conn)
-		hci_acl_create_connection(conn);
+		hci_acl_create_connection_sync(hdev, conn);
 
 	hci_dev_unlock(hdev);
 }
diff --git a/net/bluetooth/hci_sync.c b/net/bluetooth/hci_sync.c
index a15ab0b87..067d44570 100644
--- a/net/bluetooth/hci_sync.c
+++ b/net/bluetooth/hci_sync.c
@@ -6565,3 +6565,75 @@ int hci_update_adv_data(struct hci_dev *hdev, u8 instance)
 	return hci_cmd_sync_queue(hdev, _update_adv_data_sync,
 				  UINT_PTR(instance), NULL);
 }
+
+static int __hci_acl_create_connection_sync(struct hci_dev *hdev, void *data)
+{
+	struct hci_conn *conn = data;
+	struct inquiry_entry *ie;
+	struct hci_cp_create_conn cp;
+	int err;
+
+	BT_DBG("hcon %p", conn);
+
+	/* Many controllers disallow HCI Create Connection while it is doing
+	 * HCI Inquiry. So we cancel the Inquiry first before issuing HCI Create
+	 * Connection. This may cause the MGMT discovering state to become false
+	 * without user space's request but it is okay since the MGMT Discovery
+	 * APIs do not promise that discovery should be done forever. Instead,
+	 * the user space monitors the status of MGMT discovering and it may
+	 * request for discovery again when this flag becomes false.
+	 */
+	if (test_bit(HCI_INQUIRY, &hdev->flags)) {
+		err = __hci_cmd_sync_status(hdev, HCI_OP_INQUIRY_CANCEL, 0,
+					    NULL, HCI_CMD_TIMEOUT);
+		if (err)
+			bt_dev_warn(hdev, "Failed to cancel inquiry %d", err);
+	}
+
+	conn->state = BT_CONNECT;
+	conn->out = true;
+	conn->role = HCI_ROLE_MASTER;
+
+	conn->attempt++;
+
+	conn->link_policy = hdev->link_policy;
+
+	memset(&cp, 0, sizeof(cp));
+	bacpy(&cp.bdaddr, &conn->dst);
+	cp.pscan_rep_mode = 0x02;
+
+	ie = hci_inquiry_cache_lookup(hdev, &conn->dst);
+	if (ie) {
+		if (inquiry_entry_age(ie) <= INQUIRY_ENTRY_AGE_MAX) {
+			cp.pscan_rep_mode = ie->data.pscan_rep_mode;
+			cp.pscan_mode     = ie->data.pscan_mode;
+			cp.clock_offset   = ie->data.clock_offset |
+					    cpu_to_le16(0x8000);
+		}
+
+		memcpy(conn->dev_class, ie->data.dev_class, 3);
+	}
+
+	cp.pkt_type = cpu_to_le16(conn->pkt_type);
+	if (lmp_rswitch_capable(hdev) && !(hdev->link_mode & HCI_LM_MASTER))
+		cp.role_switch = 0x01;
+	else
+		cp.role_switch = 0x00;
+
+	err = __hci_cmd_sync_status_sk(hdev, HCI_OP_CREATE_CONN,
+				       sizeof(cp), &cp,
+				       HCI_EV_CONN_COMPLETE,
+				       HCI_ACL_CONN_TIMEOUT, NULL);
+
+	if (err == -ETIMEDOUT)
+		hci_abort_conn_sync(hdev, conn, HCI_ERROR_LOCAL_HOST_TERM);
+
+	return err;
+}
+
+int hci_acl_create_connection_sync(struct hci_dev *hdev,
+				   struct hci_conn *conn)
+{
+	return hci_cmd_sync_queue(hdev, __hci_acl_create_connection_sync,
+				  conn, NULL);
+}
