diff --git a/docs/library/bluetooth.rst b/docs/library/bluetooth.rst
index 052f7a5c78..8f7041e8d3 100644
--- a/docs/library/bluetooth.rst
+++ b/docs/library/bluetooth.rst
@@ -166,7 +166,7 @@ Event Handling
                 conn_handle, status = data
             elif event == _IRQ_GATTC_CHARACTERISTIC_RESULT:
                 # Called for each characteristic found by gattc_discover_services().
-                conn_handle, def_handle, value_handle, properties, uuid = data
+                conn_handle, end_handle, value_handle, properties, uuid = data
             elif event == _IRQ_GATTC_CHARACTERISTIC_DONE:
                 # Called once service discovery is complete.
                 # Note: Status will be zero on success, implementation-specific value otherwise.
diff --git a/extmod/btstack/modbluetooth_btstack.c b/extmod/btstack/modbluetooth_btstack.c
index d41c671d68..b58be78a99 100644
--- a/extmod/btstack/modbluetooth_btstack.c
+++ b/extmod/btstack/modbluetooth_btstack.c
@@ -450,7 +450,7 @@ STATIC void btstack_packet_handler(uint8_t packet_type, uint8_t *packet, uint8_t
         gatt_client_characteristic_t characteristic;
         gatt_event_characteristic_query_result_get_characteristic(packet, &characteristic);
         mp_obj_bluetooth_uuid_t characteristic_uuid = create_mp_uuid(characteristic.uuid16, characteristic.uuid128);
-        mp_bluetooth_gattc_on_characteristic_result(conn_handle, characteristic.start_handle, characteristic.value_handle, characteristic.properties, &characteristic_uuid);
+        mp_bluetooth_gattc_on_characteristic_result(conn_handle, characteristic.value_handle, characteristic.end_handle, characteristic.properties, &characteristic_uuid);
     } else if (event_type == GATT_EVENT_ALL_CHARACTERISTIC_DESCRIPTORS_QUERY_RESULT) {
         DEBUG_printf("  --> gatt descriptor query result\n");
         uint16_t conn_handle = gatt_event_all_characteristic_descriptors_query_result_get_handle(packet);
diff --git a/extmod/modbluetooth.c b/extmod/modbluetooth.c
index c2cbf0e70a..bd4d9b7179 100644
--- a/extmod/modbluetooth.c
+++ b/extmod/modbluetooth.c
@@ -1101,7 +1101,7 @@ STATIC mp_obj_t bluetooth_ble_invoke_irq(mp_obj_t none_in) {
             // conn_handle, start_handle, end_handle, uuid
             ringbuf_extract(&o->ringbuf, data_tuple, 3, 0, NULL, 0, &o->irq_data_uuid, NULL);
         } else if (event == MP_BLUETOOTH_IRQ_GATTC_CHARACTERISTIC_RESULT) {
-            // conn_handle, def_handle, value_handle, properties, uuid
+            // conn_handle, end_handle, value_handle, properties, uuid
             ringbuf_extract(&o->ringbuf, data_tuple, 3, 1, NULL, 0, &o->irq_data_uuid, NULL);
         } else if (event == MP_BLUETOOTH_IRQ_GATTC_DESCRIPTOR_RESULT) {
             // conn_handle, handle, uuid
@@ -1375,8 +1375,9 @@ void mp_bluetooth_gattc_on_primary_service_result(uint16_t conn_handle, uint16_t
     invoke_irq_handler(MP_BLUETOOTH_IRQ_GATTC_SERVICE_RESULT, args, 3, 0, NULL_ADDR, service_uuid, NULL_DATA, NULL_DATA_LEN, 0);
 }
 
-void mp_bluetooth_gattc_on_characteristic_result(uint16_t conn_handle, uint16_t def_handle, uint16_t value_handle, uint8_t properties, mp_obj_bluetooth_uuid_t *characteristic_uuid) {
-    mp_int_t args[] = {conn_handle, def_handle, value_handle, properties};
+void mp_bluetooth_gattc_on_characteristic_result(uint16_t conn_handle, uint16_t value_handle, uint16_t end_handle, uint8_t properties, mp_obj_bluetooth_uuid_t *characteristic_uuid) {
+    // Note: "end_handle" replaces "def_handle" from the original version of this event.
+    mp_int_t args[] = {conn_handle, end_handle, value_handle, properties};
     invoke_irq_handler(MP_BLUETOOTH_IRQ_GATTC_CHARACTERISTIC_RESULT, args, 4, 0, NULL_ADDR, characteristic_uuid, NULL_DATA, NULL_DATA_LEN, 0);
 }
 
@@ -1588,12 +1589,13 @@ void mp_bluetooth_gattc_on_primary_service_result(uint16_t conn_handle, uint16_t
     schedule_ringbuf(atomic_state);
 }
 
-void mp_bluetooth_gattc_on_characteristic_result(uint16_t conn_handle, uint16_t def_handle, uint16_t value_handle, uint8_t properties, mp_obj_bluetooth_uuid_t *characteristic_uuid) {
+void mp_bluetooth_gattc_on_characteristic_result(uint16_t conn_handle, uint16_t value_handle, uint16_t end_handle, uint8_t properties, mp_obj_bluetooth_uuid_t *characteristic_uuid) {
     MICROPY_PY_BLUETOOTH_ENTER
     mp_obj_bluetooth_ble_t *o = MP_OBJ_TO_PTR(MP_STATE_VM(bluetooth));
     if (enqueue_irq(o, 2 + 2 + 2 + 1 + characteristic_uuid->type, MP_BLUETOOTH_IRQ_GATTC_CHARACTERISTIC_RESULT)) {
         ringbuf_put16(&o->ringbuf, conn_handle);
-        ringbuf_put16(&o->ringbuf, def_handle);
+        // Note: "end_handle" replaces "def_handle" from the original version of this event.
+        ringbuf_put16(&o->ringbuf, end_handle);
         ringbuf_put16(&o->ringbuf, value_handle);
         ringbuf_put(&o->ringbuf, properties);
         ringbuf_put_uuid(&o->ringbuf, characteristic_uuid);
diff --git a/extmod/modbluetooth.h b/extmod/modbluetooth.h
index 52053045f8..d490346278 100644
--- a/extmod/modbluetooth.h
+++ b/extmod/modbluetooth.h
@@ -459,7 +459,7 @@ void mp_bluetooth_gap_on_scan_result(uint8_t addr_type, const uint8_t *addr, uin
 void mp_bluetooth_gattc_on_primary_service_result(uint16_t conn_handle, uint16_t start_handle, uint16_t end_handle, mp_obj_bluetooth_uuid_t *service_uuid);
 
 // Notify modbluetooth that a characteristic was found (either by discover-all-on-service, or discover-by-uuid-on-service).
-void mp_bluetooth_gattc_on_characteristic_result(uint16_t conn_handle, uint16_t def_handle, uint16_t value_handle, uint8_t properties, mp_obj_bluetooth_uuid_t *characteristic_uuid);
+void mp_bluetooth_gattc_on_characteristic_result(uint16_t conn_handle, uint16_t value_handle, uint16_t end_handle, uint8_t properties, mp_obj_bluetooth_uuid_t *characteristic_uuid);
 
 // Notify modbluetooth that a descriptor was found.
 void mp_bluetooth_gattc_on_descriptor_result(uint16_t conn_handle, uint16_t handle, mp_obj_bluetooth_uuid_t *descriptor_uuid);
diff --git a/extmod/nimble/modbluetooth_nimble.c b/extmod/nimble/modbluetooth_nimble.c
index c26c09e61a..b0194446bd 100644
--- a/extmod/nimble/modbluetooth_nimble.c
+++ b/extmod/nimble/modbluetooth_nimble.c
@@ -1310,15 +1310,51 @@ int mp_bluetooth_gattc_discover_primary_services(uint16_t conn_handle, const mp_
     return ble_hs_err_to_errno(err);
 }
 
+STATIC bool match_char_uuid(const mp_obj_bluetooth_uuid_t *filter_uuid, const ble_uuid_any_t *result_uuid) {
+    if (!filter_uuid) {
+        return true;
+    }
+    ble_uuid_any_t filter_uuid_nimble;
+    create_nimble_uuid(filter_uuid, &filter_uuid_nimble);
+    return ble_uuid_cmp(&result_uuid->u, &filter_uuid_nimble.u) == 0;
+}
+
 STATIC int ble_gattc_characteristic_cb(uint16_t conn_handle, const struct ble_gatt_error *error, const struct ble_gatt_chr *characteristic, void *arg) {
     DEBUG_printf("ble_gattc_characteristic_cb: conn_handle=%d status=%d def_handle=%d val_handle=%d\n", conn_handle, error->status, characteristic ? characteristic->def_handle : -1, characteristic ? characteristic->val_handle : -1);
     if (!mp_bluetooth_is_active()) {
         return 0;
     }
+
+    mp_bluetooth_nimble_pending_characteristic_t *pending = &MP_STATE_PORT(bluetooth_nimble_root_pointers)->pending_char_result;
+    if (pending->ready) {
+        // If there's a pending characteristic, we now know what it's end handle is, report it up to modbluetooth.
+        pending->ready = 0;
+
+        // The end handle will either be the end of the query range (there are
+        // no more results), or one before the current result's definition
+        // handle.
+        uint16_t end_handle = MP_STATE_PORT(bluetooth_nimble_root_pointers)->char_disc_end_handle;
+        if (error->status == 0) {
+            end_handle = characteristic->def_handle - 1;
+        }
+
+        // Assume same conn_handle because we're limiting to a single active discovery.
+        mp_bluetooth_gattc_on_characteristic_result(conn_handle, pending->value_handle, end_handle, pending->properties, &pending->uuid);
+    }
+
     if (error->status == 0) {
-        mp_obj_bluetooth_uuid_t characteristic_uuid = create_mp_uuid(&characteristic->uuid);
-        mp_bluetooth_gattc_on_characteristic_result(conn_handle, characteristic->def_handle, characteristic->val_handle, characteristic->properties, &characteristic_uuid);
+        // If there's no filter, or the filter matches, then save this result.
+        if (match_char_uuid(MP_STATE_PORT(bluetooth_nimble_root_pointers)->char_filter_uuid, &characteristic->uuid)) {
+            pending->value_handle = characteristic->val_handle;
+            pending->properties = characteristic->properties;
+            pending->uuid = create_mp_uuid(&characteristic->uuid);
+            pending->ready = 1;
+        }
     } else {
+        // Finished (or failed). Allow another characteristic discovery to start.
+        MP_STATE_PORT(bluetooth_nimble_root_pointers)->char_disc_end_handle = 0;
+
+        // Report completion.
         mp_bluetooth_gattc_on_discover_complete(MP_BLUETOOTH_IRQ_GATTC_CHARACTERISTIC_DONE, conn_handle, error->status == BLE_HS_EDONE ? 0 : error->status);
     }
     return 0;
@@ -1328,13 +1364,29 @@ int mp_bluetooth_gattc_discover_characteristics(uint16_t conn_handle, uint16_t s
     if (!mp_bluetooth_is_active()) {
         return ERRNO_BLUETOOTH_NOT_ACTIVE;
     }
-    int err;
-    if (uuid) {
-        ble_uuid_any_t nimble_uuid;
-        create_nimble_uuid(uuid, &nimble_uuid);
-        err = ble_gattc_disc_chrs_by_uuid(conn_handle, start_handle, end_handle, &nimble_uuid.u, &ble_gattc_characteristic_cb, NULL);
-    } else {
-        err = ble_gattc_disc_all_chrs(conn_handle, start_handle, end_handle, &ble_gattc_characteristic_cb, NULL);
+
+    // The implementation of characteristic discovery queries for all
+    // characteristics, and then UUID filtering is applied by NimBLE on each
+    // characteristic. Unfortunately, each characteristic result does not
+    // include its end handle, so you need to know the next characteristic
+    // before you can raise the previous one to modbluetooth. But if we let
+    // NimBLE do the filtering, then we don't necessarily see the next one.
+    // So we make NimBLE return all results and do the filtering here instead.
+
+    if (MP_STATE_PORT(bluetooth_nimble_root_pointers)->char_disc_end_handle) {
+        // Only allow a single discovery (otherwise we'd need to track a
+        // pending characteristic per conn handle).
+        return MP_EBUSY;
+    }
+
+    // Set the uuid filter (if any). This needs to be a root pointer,
+    // otherwise we'd use ble_gattc_disc_all_chrs's arg param.
+    MP_STATE_PORT(bluetooth_nimble_root_pointers)->char_filter_uuid = uuid;
+
+    int err = ble_gattc_disc_all_chrs(conn_handle, start_handle, end_handle, &ble_gattc_characteristic_cb, NULL);
+    if (!err) {
+        // Lock out concurrent characteristic discovery.
+        MP_STATE_PORT(bluetooth_nimble_root_pointers)->char_disc_end_handle = end_handle;
     }
     return ble_hs_err_to_errno(err);
 }
diff --git a/extmod/nimble/modbluetooth_nimble.h b/extmod/nimble/modbluetooth_nimble.h
index 15648a9959..d9bef64920 100644
--- a/extmod/nimble/modbluetooth_nimble.h
+++ b/extmod/nimble/modbluetooth_nimble.h
@@ -31,6 +31,13 @@
 
 #define MP_BLUETOOTH_NIMBLE_MAX_SERVICES (8)
 
+typedef struct _mp_bluetooth_nimble_pending_characteristic_t {
+    uint16_t value_handle;
+    uint8_t properties;
+    mp_obj_bluetooth_uuid_t uuid;
+    uint8_t ready;
+} mp_bluetooth_nimble_pending_characteristic_t;
+
 typedef struct _mp_bluetooth_nimble_root_pointers_t {
     // Characteristic (and descriptor) value storage.
     mp_gatts_db_t gatts_db;
@@ -44,6 +51,14 @@ typedef struct _mp_bluetooth_nimble_root_pointers_t {
     struct _mp_bluetooth_nimble_l2cap_channel_t *l2cap_chan;
     bool l2cap_listening;
     #endif
+
+    #if MICROPY_PY_BLUETOOTH_ENABLE_GATT_CLIENT
+    // Workaround to allow us to get the end_handle of each characteristic
+    // during discovery. See mp_bluetooth_gattc_discover_characteristics().
+    uint16_t char_disc_end_handle;
+    const mp_obj_bluetooth_uuid_t *char_filter_uuid;
+    mp_bluetooth_nimble_pending_characteristic_t pending_char_result;
+    #endif
 } mp_bluetooth_nimble_root_pointers_t;
 
 enum {