diff --git a/components/driver/gpio.c b/components/driver/gpio.c
index 1a38620dbb..3201372bc1 100644
--- a/components/driver/gpio.c
+++ b/components/driver/gpio.c
@@ -161,7 +161,7 @@ static esp_err_t gpio_output_enable(gpio_num_t gpio_num)
 
 esp_err_t gpio_set_level(gpio_num_t gpio_num, uint32_t level)
 {
-    GPIO_CHECK(GPIO_IS_VALID_GPIO(gpio_num), "GPIO number error", ESP_ERR_INVALID_ARG);
+    GPIO_CHECK(GPIO_IS_VALID_OUTPUT_GPIO(gpio_num), "GPIO output gpio_num error", ESP_ERR_INVALID_ARG);
     if (level) {
         if (gpio_num < 32) {
             GPIO.out_w1ts = (1 << gpio_num);
diff --git a/components/driver/include/driver/gpio.h b/components/driver/include/driver/gpio.h
index 83d3806834..4f2a800724 100644
--- a/components/driver/include/driver/gpio.h
+++ b/components/driver/include/driver/gpio.h
@@ -269,7 +269,7 @@ esp_err_t gpio_intr_disable(gpio_num_t gpio_num);
  *
  * @return
  *     - ESP_OK Success
- *     - GPIO_IS_VALID_GPIO GPIO number error
+ *     - ESP_ERR_INVALID_ARG GPIO number error
  *
  */
 esp_err_t gpio_set_level(gpio_num_t gpio_num, uint32_t level);