diff --git a/esp-println/CHANGELOG.md b/esp-println/CHANGELOG.md
index 1e69cef30..2d132fd84 100644
--- a/esp-println/CHANGELOG.md
+++ b/esp-println/CHANGELOG.md
@@ -15,6 +15,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ### Fixed
 
+- `critical-section` now wraps the entirety of the `print!` macros (#4154)
 
 ### Removed
 
diff --git a/esp-println/src/lib.rs b/esp-println/src/lib.rs
index e1e6bc151..f7aedbabf 100644
--- a/esp-println/src/lib.rs
+++ b/esp-println/src/lib.rs
@@ -40,8 +40,10 @@ log_format!("serial");
 macro_rules! println {
     ($($arg:tt)*) => {{
         {
-            use core::fmt::Write;
-            writeln!($crate::Printer, $($arg)*).ok();
+            $crate::with(|_| {
+                use core::fmt::Write;
+                writeln!($crate::Printer, $($arg)*).ok();
+            });
         }
     }};
 }
@@ -52,8 +54,10 @@ macro_rules! println {
 macro_rules! print {
     ($($arg:tt)*) => {{
         {
-            use core::fmt::Write;
-            write!($crate::Printer, $($arg)*).ok();
+            $crate::with(|_| {
+                use core::fmt::Write;
+                write!($crate::Printer, $($arg)*).ok();
+            });
         }
     }};
 }
@@ -486,7 +490,8 @@ mod noop {
 use core::marker::PhantomData;
 
 #[derive(Clone, Copy)]
-struct LockToken<'a>(PhantomData<&'a ()>);
+#[doc(hidden)]
+pub struct LockToken<'a>(PhantomData<&'a ()>);
 
 impl LockToken<'_> {
     #[allow(unused)]
@@ -499,8 +504,9 @@ impl LockToken<'_> {
 static LOCK: esp_sync::RawMutex = esp_sync::RawMutex::new();
 
 /// Runs the callback in a critical section, if enabled.
+#[doc(hidden)]
 #[inline]
-fn with<R>(f: impl FnOnce(LockToken) -> R) -> R {
+pub fn with<R>(f: impl FnOnce(LockToken) -> R) -> R {
     #[cfg(feature = "critical-section")]
     return LOCK.lock(|| f(unsafe { LockToken::conjure() }));