diff --git a/docs/en/api-guides/error-handling.rst b/docs/en/api-guides/error-handling.rst
index 86277266b5..42c5e7985e 100644
--- a/docs/en/api-guides/error-handling.rst
+++ b/docs/en/api-guides/error-handling.rst
@@ -10,13 +10,13 @@ Overview
 Identifying and handling run-time errors is important for developing robust applications. There can be multiple kinds of run-time errors:
 
 - Recoverable errors:
-  
+
   - Errors indicated by functions through return values (error codes)
   - C++ exceptions, thrown using ``throw`` keyword
 
 - Unrecoverable (fatal) errors:
-  
-  - Failed assertions (using ``assert`` macro and equivalent methods) and ``abort()`` calls.
+
+  - Failed assertions (using ``assert`` macro and equivalent methods, see :ref:`assertions`) and ``abort()`` calls.
   - CPU exceptions: access to protected regions of memory, illegal instruction, etc.
   - System level checks: watchdog timeout, cache access error, stack overflow, stack smashing, heap corruption, etc.
 
@@ -43,6 +43,8 @@ Additionally, :cpp:func:`esp_err_to_name_r` function will attempt to interpret t
 
 This feature is enabled by default, but can be disabled to reduce application binary size. See :ref:`CONFIG_ESP_ERR_TO_NAME_LOOKUP`. When this feature is disabled, :cpp:func:`esp_err_to_name` and :cpp:func:`esp_err_to_name_r` are still defined and can be called. In this case, :cpp:func:`esp_err_to_name` will return ``UNKNOWN ERROR``, and :cpp:func:`esp_err_to_name_r` will return ``Unknown error 0xXXXX(YYYYY)``, where ``0xXXXX`` and ``YYYYY`` are the hexadecimal and decimal representations of the error code, respectively.
 
+.. _esp-error-check-macro:
+
 ``ESP_ERROR_CHECK`` macro
 -------------------------
 
diff --git a/docs/en/contribute/style-guide.rst b/docs/en/contribute/style-guide.rst
index f7dc397b86..8e2376f1b8 100644
--- a/docs/en/contribute/style-guide.rst
+++ b/docs/en/contribute/style-guide.rst
@@ -217,6 +217,46 @@ Enums should be defined through the `typedef` and be namespaced::
         MODULE_FOO_THREE
     } module_foo_t;
 
+
+.. _assertions:
+
+Assertions
+^^^^^^^^^^
+
+The standard C ``assert()`` function, defined in ``assert.h`` should be used to check conditions that should be true in source code. In the default configuration, an assert condition that returns ``false`` or 0 will call ``abort()`` and trigger a :doc:`Fatal Error</api-guides/fatal-errors>`.
+
+``assert()`` should only be used to detect unrecoverable errors due to a serious internal logic bug or corruption, where it's not possible for the program to continue. For recoverable errors, including errors that are possible due to invalid external input, an :doc:`error value should be returned </api-guides/error-handling>`.
+
+.. note::
+
+   When asserting a value of type ``esp_err_t``is equal to ``ESP_OK``, use the :ref:`esp-error-check-macro` instead of an ``assert()``.
+
+It's possible to configure ESP-IDF projects with assertions disabled (see :ref:`CONFIG_COMPILER_OPTIMIZATION_ASSERTION_LEVEL`). Therefore, functions called in an ``assert()`` statement should not have side-effects.
+
+It's also necessary to use particular techniques to avoid "variable set but not used" warnings when assertions are disabled, due to code patterns such as::
+
+  int res = do_something();
+  assert(res == 0);
+
+Once the ``assert`` is optimized out, the ``res`` value is unused and the compiler will warn about this. However the function ``do_something()`` must still be called, even if assertions are disabled.
+
+When the variable is declared and initialized in a single statement, a good strategy is to cast it to ``void`` on a new line. The compiler will not produce a warning, and the variable can still be optimized out of the final binary::
+
+  int res = do_something();
+  assert(res == 0);
+  (void)res;
+
+If the variable is declared separately, for example if it is used for multiple assertions, then it can be declared with the GCC attribute ``__attribute__((unused))``. The compiler will not produce any unused variable warnings, but the variable can still be optimized out::
+
+  int res __attribute__((unused));
+
+  res = do_something();
+  assert(res == 0);
+
+  res = do_something_else();
+  assert(res != 0);
+
+
 C++ Code Formatting
 -------------------