diff --git a/drivers/sensors/sensor.c b/drivers/sensors/sensor.c
index fa9c241e16..9c8db17081 100644
--- a/drivers/sensors/sensor.c
+++ b/drivers/sensors/sensor.c
@@ -207,17 +207,6 @@ static int sensor_open(FAR struct file *filep)
       ret = -EMFILE;
       goto err;
     }
-  else if (tmp == 1)
-    {
-      /* Initialize sensor buffer */
-
-      ret = circbuf_init(&upper->buffer, NULL, lower->buffer_number *
-                         upper->esize);
-      if (ret < 0)
-        {
-          goto err;
-        }
-    }
 
   upper->crefs = tmp;
 err:
@@ -330,19 +319,6 @@ static ssize_t sensor_read(FAR struct file *filep, FAR char *buffer,
         }
 
       ret = circbuf_read(&upper->buffer, buffer, len);
-
-      /* Release some buffer space when current mode isn't batch mode
-       * and last mode is batch mode, and the number of bytes available
-       * in buffer is less than the number of bytes origin.
-       */
-
-      uint32_t buffer_size = lower->buffer_number * upper->esize;
-      if (upper->latency == 0 &&
-          circbuf_size(&upper->buffer) > buffer_size &&
-          circbuf_used(&upper->buffer) <= buffer_size)
-        {
-          ret = circbuf_resize(&upper->buffer, buffer_size);
-        }
     }
 
 out:
@@ -393,8 +369,6 @@ static int sensor_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
                 {
                   upper->interval = 0;
                   upper->latency = 0;
-                  ret = circbuf_resize(&upper->buffer, lower->buffer_number *
-                                                       upper->esize);
                 }
             }
         }
@@ -444,17 +418,6 @@ static int sensor_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
           if (ret >= 0)
             {
               upper->latency = *val;
-              if (*val != 0)
-                {
-                  /* Adjust length of buffer in batch mode */
-
-                  uint32_t buffer_size = (ROUNDUP(*val, upper->interval) /
-                                         upper->interval +
-                                         lower->buffer_number) *
-                                         upper->esize;
-
-                  ret = circbuf_resize(&upper->buffer, buffer_size);
-                }
             }
         }
         break;
@@ -497,16 +460,19 @@ static int sensor_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
 
       case SNIOC_GET_NEVENTBUF:
         {
-          *val = lower->buffer_number + lower->batch_number;
+          *val = lower->buffer_number;
         }
         break;
 
       case SNIOC_SET_BUFFER_NUMBER:
         {
-          if (arg != 0)
+          if (!circbuf_is_init(&upper->buffer))
             {
               lower->buffer_number = arg;
-              ret = circbuf_resize(&upper->buffer, arg * upper->esize);
+            }
+          else
+            {
+              ret = -EBUSY;
             }
         }
         break;
@@ -617,6 +583,7 @@ static ssize_t sensor_push_event(FAR void *priv, FAR const void *data,
                                  size_t bytes)
 {
   FAR struct sensor_upperhalf_s *upper = priv;
+  FAR struct sensor_lowerhalf_s *lower = upper->lower;
   int semcount;
   int ret;
 
@@ -631,6 +598,19 @@ static ssize_t sensor_push_event(FAR void *priv, FAR const void *data,
       return ret;
     }
 
+  if (!circbuf_is_init(&upper->buffer))
+    {
+      /* Initialize sensor buffer when data is first generated */
+
+      ret = circbuf_init(&upper->buffer, NULL, lower->buffer_number *
+                         upper->esize);
+      if (ret < 0)
+        {
+          nxsem_post(&upper->exclsem);
+          return ret;
+        }
+    }
+
   circbuf_overwrite(&upper->buffer, data, bytes);
   sensor_pollnotify(upper, POLLIN);
   nxsem_get_value(&upper->buffersem, &semcount);
diff --git a/include/nuttx/sensors/sensor.h b/include/nuttx/sensors/sensor.h
index cc4bafbcbf..c6ea2aa049 100644
--- a/include/nuttx/sensors/sensor.h
+++ b/include/nuttx/sensors/sensor.h
@@ -811,17 +811,14 @@ struct sensor_lowerhalf_s
    * is too small, the event will be overwrite before application read them.
    * So, it's recommended to set according to sensor odr. If odr is low, you
    * can set to one. If odr is high, you can set to two or three.
+   *
+   * If device support batch mode, the number of events that hardware fifo
+   * hold maximum number of samples, must be aligned with size of
+   * struct sensor_event_xxx.
    */
 
   uint32_t buffer_number;
 
-  /* The number of events that hardware fifo hold maximum number of samples,
-   * must be aligned with size of struct sensor_event_xxx.
-   * If sensor don't hardware fifo, you don't need to care about fifo_size.
-   */
-
-  uint32_t batch_number;
-
   /* The uncalibrated use to describe whether the sensor event is
    * uncalibrated. True is uncalibrated data, false is calibrated data,
    * default false.