diff --git a/components/freertos/FreeRTOS-Kernel/queue.c b/components/freertos/FreeRTOS-Kernel/queue.c
index bd40e8057b0a..98801aab067b 100644
--- a/components/freertos/FreeRTOS-Kernel/queue.c
+++ b/components/freertos/FreeRTOS-Kernel/queue.c
@@ -1623,15 +1623,6 @@ BaseType_t xQueueSemaphoreTake( QueueHandle_t xQueue,
             {
                 if( xTicksToWait == ( TickType_t ) 0 )
                 {
-                    /* For inheritance to have occurred there must have been an
-                     * initial timeout, and an adjusted timeout cannot become 0, as
-                     * if it were 0 the function would have exited. */
-                    #if ( configUSE_MUTEXES == 1 )
-                        {
-                            configASSERT( xInheritanceOccurred == pdFALSE );
-                        }
-                    #endif /* configUSE_MUTEXES */
-
                     /* The semaphore count was 0 and no block time is specified
                      * (or the block time has expired) so exit now. */
                     taskEXIT_CRITICAL();