diff --git a/drivers/i2c/busses/i2c-uniphier.c b/drivers/i2c/busses/i2c-uniphier.c
index e3c3861c3325..ad5eb8bacc6d 100644
--- a/drivers/i2c/busses/i2c-uniphier.c
+++ b/drivers/i2c/busses/i2c-uniphier.c
@@ -247,11 +247,8 @@ static int uniphier_i2c_master_xfer(struct i2c_adapter *adap,
 		return ret;
 
 	for (msg = msgs; msg < emsg; msg++) {
-		/* If next message is read, skip the stop condition */
-		bool stop = !(msg + 1 < emsg && msg[1].flags & I2C_M_RD);
-		/* but, force it if I2C_M_STOP is set */
-		if (msg->flags & I2C_M_STOP)
-			stop = true;
+		/* Emit STOP if it is the last message or I2C_M_STOP is set. */
+		bool stop = (msg + 1 == emsg) || (msg->flags & I2C_M_STOP);
 
 		ret = uniphier_i2c_master_xfer_one(adap, msg, stop);
 		if (ret)