diff --git a/.github/workflows/push.yml b/.github/workflows/push.yml
index f2f75d7b1ac..c2fe46df8c7 100644
--- a/.github/workflows/push.yml
+++ b/.github/workflows/push.yml
@@ -104,4 +104,5 @@ jobs:
         run: |
           . ${IDF_PATH}/export.sh
           idf.py create-project test
+          echo CONFIG_FREERTOS_HZ=1000 > test/sdkconfig.defaults
           idf.py -C test -DEXTRA_COMPONENT_DIRS=$PWD/components build
diff --git a/CMakeLists.txt b/CMakeLists.txt
index f5c324db580..8e065f90605 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -210,6 +210,12 @@ set(priv_requires fatfs nvs_flash app_update spiffs bootloader_support openssl b
 
 idf_component_register(INCLUDE_DIRS ${includedirs} PRIV_INCLUDE_DIRS ${priv_includes} SRCS ${srcs} REQUIRES ${requires} PRIV_REQUIRES ${priv_requires})
 
+if(NOT CONFIG_FREERTOS_HZ EQUAL 1000 AND NOT "$ENV{ARDUINO_SKIP_TICK_CHECK}")
+    # See delay() in cores/esp32/esp32-hal-misc.c.
+    message(FATAL_ERROR "esp32-arduino requires CONFIG_FREERTOS_HZ=1000 "
+                        "(currently ${CONFIG_FREERTOS_HZ})")
+endif()
+
 string(TOUPPER ${CONFIG_ARDUINO_VARIANT} idf_target_caps)
 target_compile_options(${COMPONENT_TARGET} PUBLIC
     -DARDUINO=10812
diff --git a/docs/source/esp-idf_component.rst b/docs/source/esp-idf_component.rst
index f153f267e6b..e2049b4e2bf 100644
--- a/docs/source/esp-idf_component.rst
+++ b/docs/source/esp-idf_component.rst
@@ -140,8 +140,7 @@ If you are writing code that does not require Arduino to compile and you want yo
 FreeRTOS Tick Rate (Hz)
 -----------------------
 
-You might notice that Arduino-esp32's `delay()` function will only work in multiples of 10ms. That is because, by default, esp-idf handles task events 100 times per second.
-To fix that behavior, you need to set FreeRTOS tick rate to 1000Hz in `make menuconfig` -> `Component config` -> `FreeRTOS` -> `Tick rate`.
+The Arduino component requires the FreeRTOS tick rate `CONFIG_FREERTOS_HZ` set to 1000Hz in `make menuconfig` -> `Component config` -> `FreeRTOS` -> `Tick rate`.
 
 Compilation Errors
 ------------------