diff --git a/include/nuttx/wireless/bluetooth/bt_ioctl.h b/include/nuttx/wireless/bluetooth/bt_ioctl.h
index 408435ccf0..f099d19072 100644
--- a/include/nuttx/wireless/bluetooth/bt_ioctl.h
+++ b/include/nuttx/wireless/bluetooth/bt_ioctl.h
@@ -69,7 +69,7 @@
 
 /* Bluetooth network device IOCTL commands. */
 
-#if !defined(WL_BLUETOOTHCMDS) || WL_BLUETOOTHCMDS != 24
+#if !defined(WL_BLUETOOTHCMDS) || WL_BLUETOOTHCMDS != 26
 #  error Incorrect setting for number of Bluetooth IOCTL commands
 #endif
 
@@ -202,6 +202,11 @@
 #define SIOCBTGATTWR           _WLIOC(WL_BLUETOOTHFIRST + 22)
 #define SIOCBTGATTWRGET        _WLIOC(WL_BLUETOOTHFIRST + 23)
 
+/* Connect/diconnect from a peer */
+
+#define SIOCBTCONNECT          _WLIOC(WL_BLUETOOTHFIRST + 24)
+#define SIOCBTDISCONNECT       _WLIOC(WL_BLUETOOTHFIRST + 25)
+
 /* Definitions associated with struct btreg_s *******************************/
 /* struct btreq_s union field accessors */
 
@@ -267,6 +272,8 @@
 #define btr_wrpending          btru.btgwrr.br_pending
 #define btr_wrresult           btru.btgwrr.br_result
 
+#define btr_rmtpeer            btru.btcon.btcon_peer
+
 /* btr_flags */
 
 #define BTF_UP                 (1 << 0)  /* Unit is up */
@@ -496,6 +503,16 @@ struct btreq_s
       /* Write result that accompanies SIOCBTGATTWRGET command */
 
       struct bt_result_s btgwrr;     /* OUT: Result of the write */
+
+      /* Read-only data that accompanies the SIOCBTCONNECT and
+       * SIOCBTDISCONNECT commands.
+       */
+
+      struct
+      {
+        bt_addr_le_t btcon_peer;     /* IN:  Peer address */
+      } btcon;
+
    } btru;
 };
 
diff --git a/include/nuttx/wireless/wireless.h b/include/nuttx/wireless/wireless.h
index 01b7235b6f..dc81f6ce65 100644
--- a/include/nuttx/wireless/wireless.h
+++ b/include/nuttx/wireless/wireless.h
@@ -160,7 +160,7 @@
 /* Reserved for Bluetooth network devices (see bt_ioctls.h) */
 
 #define WL_BLUETOOTHFIRST     (WL_NETFIRST + WL_NNETCMDS)
-#define WL_BLUETOOTHCMDS      (24)
+#define WL_BLUETOOTHCMDS      (26)
 #define WL_IBLUETOOTHCMD(cmd) (_WLIOCVALID(cmd) && \
                               _IOC_NR(cmd) >= WL_BLUETOOTHFIRST && \
                               _IOC_NR(cmd) < (WL_BLUETOOTHFIRST + WL_BLUETOOTHCMDS))
diff --git a/wireless/bluetooth/bt_conn.c b/wireless/bluetooth/bt_conn.c
index 94870b2782..f3d65ef3fe 100644
--- a/wireless/bluetooth/bt_conn.c
+++ b/wireless/bluetooth/bt_conn.c
@@ -132,6 +132,7 @@ static int conn_tx_kthread(int argc, FAR char *argv[])
 {
   FAR struct bt_conn_s *conn;
   FAR struct bt_buf_s *buf;
+  struct mq_attr attr;
   int ret;
 
   /* Get the connection instance */
@@ -189,6 +190,23 @@ static int conn_tx_kthread(int argc, FAR char *argv[])
   do
     {
       buf = NULL;
+
+      /* Make sure the thread is not blocked forever on an empty queue.
+       * SIOCBTCONNECT will fail if preceding SIOCBTDISCONNECT does not
+       * result in a successful termination of this thread.
+       */
+
+      ret = mq_getattr(conn->tx_queue, &attr);
+      if (ret != OK)
+        {
+          break;
+        }
+
+      if (attr.mq_curmsgs == 0)
+        {
+          break;
+        }
+
       ret = bt_queue_receive(conn->tx_queue, &buf);
       if (ret >= 0)
         {
@@ -201,6 +219,9 @@ static int conn_tx_kthread(int argc, FAR char *argv[])
   bt_conn_reset_rx_state(conn);
 
   wlinfo("handle %u exiting\n", conn->handle);
+
+  /* Release reference taken when thread was created */
+
   bt_conn_release(conn);
   return EXIT_SUCCESS;
 }
diff --git a/wireless/bluetooth/bt_ioctl.c b/wireless/bluetooth/bt_ioctl.c
index 2cba4fb0cc..eb29110497 100644
--- a/wireless/bluetooth/bt_ioctl.c
+++ b/wireless/bluetooth/bt_ioctl.c
@@ -659,6 +659,56 @@ int btnet_ioctl(FAR struct net_driver_s *netdev, int cmd, unsigned long arg)
 
   switch (cmd)
     {
+      case SIOCBTCONNECT:
+        {
+          FAR struct bt_conn_s *conn;
+          conn = bt_conn_create_le(&btreq->btr_rmtpeer);
+
+          if (!conn)
+            {
+              wlerr("Connection failed\n");
+              ret = -ENOTCONN;
+            }
+          else
+            {
+              wlinfo("Connection pending\n");
+              ret = OK;
+            }
+        }
+        break;
+
+      case SIOCBTDISCONNECT:
+        {
+          FAR struct bt_conn_s *conn;
+
+          conn = bt_conn_lookup_addr_le(&btreq->btr_rmtpeer);
+          if (!conn)
+            {
+              wlerr("Peer not connected\n");
+              ret = -ENOTCONN;
+            }
+          else
+            {
+              ret = bt_conn_disconnect(conn, BT_HCI_ERR_REMOTE_USER_TERM_CONN);
+              if (ret == -ENOTCONN)
+                {
+                  wlerr("Already disconnected\n");
+                }
+              else
+                {
+                  /* Release reference taken in bt_conn_create_le */
+
+                  bt_conn_release(conn);
+                  ret = OK;
+                }
+
+              /* Release reference taken in bt_conn_lookup_addr_le */
+
+              bt_conn_release(conn);
+            }
+        }
+        break;
+
        /* SIOCGBTINFO:  Get Bluetooth device Info.  Given the device name,
         * fill in the btreq_s structure.
         *