diff --git a/CHANGELOG.md b/CHANGELOG.md
index f110bdde5..6c97a102a 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -35,6 +35,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/spec/v2.0.0.
 - SM: fix CTKD key distribution over BR/EDR
 - SM: fix CTKD after BR/EDR Role Change
 - A2DP: emit stream established if peer set-up configuration
+- AVDTP: fix SDP Client registration bug that could block other SDP queries
 - HIOS Client: emit disconnected event on HCI disconnect and free connection struct
 - Scan Parameter Service Client: emit disconnected event on HCI disconnect and free connection struct
 - PBAP Client: fix PBAP_SUBEVENT_OPERATION_COMPLETED with OBEX_DISCONNECTED for pbap_disconnect
diff --git a/src/classic/avdtp.c b/src/classic/avdtp.c
index 75f6f5fbe..f1acb85a3 100644
--- a/src/classic/avdtp.c
+++ b/src/classic/avdtp.c
@@ -734,78 +734,60 @@ static void avdtp_handle_sdp_client_query_result(uint8_t packet_type, uint16_t c
         log_error("SDP query, connection with 0x%02x cid not found", avdtp_sdp_query_context_avdtp_cid);
         return;
     }
-    
+
     uint8_t status = ERROR_CODE_SUCCESS;
-    switch (connection->state){
-        case AVDTP_SIGNALING_W4_SDP_QUERY_FOR_REMOTE_SINK_COMPLETE:
-            switch (hci_event_packet_get_type(packet)){
-                case SDP_EVENT_QUERY_ATTRIBUTE_VALUE:
-                    avdtp_handle_sdp_client_query_attribute_value(connection, packet);
-                    return;        
-                case SDP_EVENT_QUERY_COMPLETE:
-                    status = sdp_event_query_complete_get_status(packet);
-                    if (status != ERROR_CODE_SUCCESS) break;
-                    if (!connection->sink_supported || (connection->avdtp_l2cap_psm == 0)) {
-                        status = SDP_SERVICE_NOT_FOUND;
-                        break;
-                    }
-                    break;
-                default:
-                    btstack_assert(false);
-                    return;
-            }
+    switch (hci_event_packet_get_type(packet)){
+        case SDP_EVENT_QUERY_ATTRIBUTE_VALUE:
+            avdtp_handle_sdp_client_query_attribute_value(connection, packet);
+            return;
+        case SDP_EVENT_QUERY_COMPLETE:
+            status = sdp_event_query_complete_get_status(packet);
             break;
-        case AVDTP_SIGNALING_W4_SDP_QUERY_FOR_REMOTE_SOURCE_COMPLETE:
-            switch (hci_event_packet_get_type(packet)){
-                case SDP_EVENT_QUERY_ATTRIBUTE_VALUE:
-                    avdtp_handle_sdp_client_query_attribute_value(connection, packet);
-                    return;              
-                case SDP_EVENT_QUERY_COMPLETE:
-                    status = sdp_event_query_complete_get_status(packet);
-                    if (status != ERROR_CODE_SUCCESS) break;
-                    if (!connection->source_supported || (connection->avdtp_l2cap_psm == 0)) {
-                        status = SDP_SERVICE_NOT_FOUND;
-                        break;
-                    }
-                    break;
-                default:
-                    btstack_assert(false);
-                    return;
-            }
-            break;
-
-        case AVDTP_SIGNALING_CONNECTION_OPENED:
-            switch (hci_event_packet_get_type(packet)){
-                case SDP_EVENT_QUERY_ATTRIBUTE_VALUE:
-                    avdtp_handle_sdp_client_query_attribute_value(connection, packet);
-                    return;        
-                case SDP_EVENT_QUERY_COMPLETE:
-                    // without suitable SDP Record, avdtp version v0.0 is assumed
-                    status = sdp_event_query_complete_get_status(packet);
-                    break;
-                default:
-                    btstack_assert(false);
-                    return;
-            }
-            break;
-
         default:
-            // bail out, we must have had an incoming connection in the meantime; just trigger next sdp query on complete
-            if (hci_event_packet_get_type(packet) == SDP_EVENT_QUERY_COMPLETE){
-                (void) sdp_client_register_query_callback(&avdtp_handle_sdp_client_query_request);
-            }
+            btstack_assert(false);
             return;
     }
 
-    if (status == ERROR_CODE_SUCCESS){
-        avdtp_handle_sdp_query_succeeded(connection);
-    } else {
-        avdtp_handle_sdp_query_failed(connection, status);
+    // query completed with status, validate received information
+    bool handle_query_complete = true;
+    switch (connection->state){
+        case AVDTP_SIGNALING_W4_SDP_QUERY_FOR_REMOTE_SINK_COMPLETE:
+            if (status == ERROR_CODE_SUCCESS) {
+                if (!connection->sink_supported || (connection->avdtp_l2cap_psm == 0)) {
+                    status = SDP_SERVICE_NOT_FOUND;
+                }
+            }
+            break;
+        case AVDTP_SIGNALING_W4_SDP_QUERY_FOR_REMOTE_SOURCE_COMPLETE:
+            if (status == ERROR_CODE_SUCCESS) {
+                if (!connection->source_supported || (connection->avdtp_l2cap_psm == 0)) {
+                    status = SDP_SERVICE_NOT_FOUND;
+                }
+            }
+            break;
+        case AVDTP_SIGNALING_CONNECTION_OPENED:
+            // without suitable SDP Record, avdtp version v0.0 is assumed
+            break;
+        default:
+            // we must have had an incoming connection in the meantime -> bail out
+            // just trigger next sdp query on complete
+            handle_query_complete = false;
+            break;
+    }
+
+    if (handle_query_complete){
+        if (status == ERROR_CODE_SUCCESS){
+            avdtp_handle_sdp_query_succeeded(connection);
+        } else {
+            avdtp_handle_sdp_query_failed(connection, status);
+        }
     }
 
     // register the SDP Query request to check if there is another connection waiting for the query
-    // ignore ERROR_CODE_COMMAND_DISALLOWED because in that case, we already have requested an SDP callback
-    (void) sdp_client_register_query_callback(&avdtp_handle_sdp_client_query_request);
+    if (avdtp_get_next_connection_ready_for_sdp_query() != NULL){
+        // ignore ERROR_CODE_COMMAND_DISALLOWED because in that case, we already have requested an SDP callback
+        (void) sdp_client_register_query_callback(&avdtp_handle_sdp_client_query_request);
+    }
 }
 
 static avdtp_connection_t * avdtp_handle_incoming_connection(avdtp_connection_t * connection, bd_addr_t event_addr, hci_con_handle_t con_handle, uint16_t local_cid){