diff --git a/Marlin/src/module/stepper.cpp b/Marlin/src/module/stepper.cpp
index d0398b404c..b54b9668ea 100644
--- a/Marlin/src/module/stepper.cpp
+++ b/Marlin/src/module/stepper.cpp
@@ -1600,8 +1600,11 @@ void Stepper::isr() {
   // Set the next ISR to fire at the proper time
   HAL_timer_set_compare(MF_TIMER_STEP, hal_timer_t(next_isr_ticks));
 
-  // Don't forget to finally reenable interrupts
-  hal.isr_on();
+  // Don't forget to finally reenable interrupts on non-AVR.
+  // AVR automatically calls sei() for us on Return-from-Interrupt.
+  #ifndef __AVR__
+    hal.isr_on();
+  #endif
 }
 
 #if MINIMUM_STEPPER_PULSE || MAXIMUM_STEPPER_RATE