diff --git a/src/scheduler.c b/src/scheduler.c
index 0f4cbcf94d..8148c144a4 100644
--- a/src/scheduler.c
+++ b/src/scheduler.c
@@ -683,8 +683,19 @@ void rt_schedule_insert_thread(struct rt_thread *thread)
 #endif /* RT_THREAD_PRIORITY_MAX > 32 */
         rt_thread_ready_priority_group |= thread->number_mask;
 
-        rt_list_insert_before(&(rt_thread_priority_table[thread->current_priority]),
-                              &(thread->tlist));
+        /* there is no time slices left(YIELD), inserting thread before ready list*/
+        if((thread->stat & RT_THREAD_STAT_YIELD_MASK) != 0)
+        {
+            rt_list_insert_before(&(rt_thread_priority_table[thread->current_priority]),
+                                &(thread->tlist));
+        }
+        /* there are some time slices left, inserting thread after ready list to schedule it firstly at next time*/
+        else
+        {
+            rt_list_insert_after(&(rt_thread_priority_table[thread->current_priority]),
+                                &(thread->tlist));
+        }
+
         cpu_mask = RT_CPU_MASK ^ (1 << cpu_id);
         rt_hw_ipi_send(RT_SCHEDULE_IPI, cpu_mask);
     }
@@ -697,8 +708,18 @@ void rt_schedule_insert_thread(struct rt_thread *thread)
 #endif /* RT_THREAD_PRIORITY_MAX > 32 */
         pcpu->priority_group |= thread->number_mask;
 
-        rt_list_insert_before(&(rt_cpu_index(bind_cpu)->priority_table[thread->current_priority]),
-                              &(thread->tlist));
+        /* there is no time slices left(YIELD), inserting thread before ready list*/
+        if((thread->stat & RT_THREAD_STAT_YIELD_MASK) != 0)
+        {
+            rt_list_insert_before(&(rt_cpu_index(bind_cpu)->priority_table[thread->current_priority]),
+                                &(thread->tlist));
+        }
+        /* there are some time slices left, inserting thread after ready list to schedule it firstly at next time*/
+        else
+        {
+            rt_list_insert_after(&(rt_cpu_index(bind_cpu)->priority_table[thread->current_priority]),
+                                &(thread->tlist));
+        }
 
         if (cpu_id != bind_cpu)
         {
@@ -733,9 +754,18 @@ void rt_schedule_insert_thread(struct rt_thread *thread)
 
     /* READY thread, insert to ready queue */
     thread->stat = RT_THREAD_READY | (thread->stat & ~RT_THREAD_STAT_MASK);
-    /* insert thread to ready list */
-    rt_list_insert_before(&(rt_thread_priority_table[thread->current_priority]),
-                          &(thread->tlist));
+    /* there is no time slices left(YIELD), inserting thread before ready list*/
+    if((thread->stat & RT_THREAD_STAT_YIELD_MASK) != 0)
+    {
+        rt_list_insert_before(&(rt_thread_priority_table[thread->current_priority]),
+                              &(thread->tlist));
+    }
+    /* there are some time slices left, inserting thread after ready list to schedule it firstly at next time*/
+    else
+    {
+        rt_list_insert_after(&(rt_thread_priority_table[thread->current_priority]),
+                              &(thread->tlist));
+    }
 
     RT_DEBUG_LOG(RT_DEBUG_SCHEDULER, ("insert thread[%.*s], the priority: %d\n",
                                       RT_NAME_MAX, thread->name, thread->current_priority));