diff --git a/src/hooks/useAccessibility.ts b/src/hooks/useAccessibility.ts
index e9571ee..63964bc 100644
--- a/src/hooks/useAccessibility.ts
+++ b/src/hooks/useAccessibility.ts
@@ -52,11 +52,36 @@ export default function useAccessibility({
     return focused;
   };
 
-  const handleKeyDown = (event) => {
+  const handleKeyDown = (event: KeyboardEvent) => {
     switch (event.keyCode) {
-      case ESC:
+      case ESC: {
+        // Portaled popup submenus own Escape. Inline mode submenus retain
+        // outer close/focus, even when popup containers are customized.
+        const overlay = overlayRef?.current;
+        const overlayElement = overlay?.list || overlay;
+        const rootMenu = overlayElement?.matches?.('[role="menu"]')
+          ? overlayElement
+          : overlayElement?.querySelector?.('[role="menu"]');
+        const targetMenu =
+          event.target instanceof Element
+            ? event.target.closest('[role="menu"]')
+            : null;
+        const inlineSubmenu =
+          rootMenu?.contains(targetMenu) &&
+          Array.from(targetMenu?.classList || []).some((className) =>
+            className.endsWith('-inline'),
+          );
+        if (
+          rootMenu &&
+          targetMenu &&
+          targetMenu !== rootMenu &&
+          !inlineSubmenu
+        ) {
+          break;
+        }
         handleCloseMenuAndReturnFocus();
         break;
+      }
       case TAB: {
         let focusResult: boolean = false;
         if (!focusMenuRef.current) {
diff --git a/tests/useAccessibility.test.tsx b/tests/useAccessibility.test.tsx
index 931d508..37e8628 100644
--- a/tests/useAccessibility.test.tsx
+++ b/tests/useAccessibility.test.tsx
@@ -1,4 +1,6 @@
-import { act, renderHook } from '@testing-library/react';
+import * as React from 'react';
+import Menu from '@rc-component/menu';
+import { act, fireEvent, render, renderHook } from '@testing-library/react';
 import useAccessibility from '../src/hooks/useAccessibility';
 
 it('closes without consuming Tab when the overlay ref is omitted', () => {
@@ -28,3 +30,137 @@ it('closes without consuming Tab when the overlay ref is omitted', () => {
     trigger.remove();
   }
 });
+
+it.each([
+  [false, false],
+  [true, false],
+  [false, true],
+  [true, true],
+])(
+  'leaves popup nested menu Escape to its owner (wrapped: %s, contained: %s)',
+  (wrapped, contained) => {
+    const trigger = document.createElement('button');
+    const wrapper = document.createElement('div');
+    const root = document.createElement('ul');
+    const submenu = document.createElement('ul');
+    const child = document.createElement('li');
+    root.setAttribute('role', 'menu');
+    submenu.setAttribute('role', 'menu');
+    child.tabIndex = -1;
+    submenu.appendChild(child);
+    wrapper.appendChild(root);
+    document.body.append(trigger, wrapper, submenu);
+    if (contained) root.appendChild(submenu);
+    const onOpenChange = jest.fn();
+    const { unmount } = renderHook(() =>
+      useAccessibility({
+        open: true,
+        triggerRef: { current: trigger },
+        onOpenChange,
+        overlayRef: { current: wrapped ? wrapper : { list: root } },
+      }),
+    );
+    try {
+      child.focus();
+      act(() =>
+        child.dispatchEvent(
+          new KeyboardEvent('keydown', { keyCode: 27, bubbles: true }),
+        ),
+      );
+      expect(onOpenChange).not.toHaveBeenCalled();
+      expect(document.activeElement).toBe(child);
+      act(() =>
+        root.dispatchEvent(
+          new KeyboardEvent('keydown', { keyCode: 27, bubbles: true }),
+        ),
+      );
+      expect(onOpenChange).toHaveBeenCalledWith(false);
+      expect(document.activeElement).toBe(trigger);
+    } finally {
+      unmount();
+      trigger.remove();
+      wrapper.remove();
+      submenu.remove();
+    }
+  },
+);
+
+it.each([false, true])(
+  'closes for an inline nested menu (wrapped: %s)',
+  (wrapped) => {
+    const trigger = document.createElement('button');
+    const wrapper = document.createElement('div');
+    const root = document.createElement('ul');
+    const submenu = document.createElement('ul');
+    const child = document.createElement('li');
+    root.setAttribute('role', 'menu');
+    submenu.setAttribute('role', 'menu');
+    submenu.className = 'custom-menu-sub custom-menu-inline';
+    child.tabIndex = -1;
+    submenu.appendChild(child);
+    root.appendChild(submenu);
+    wrapper.appendChild(root);
+    document.body.append(trigger, wrapper);
+    const onOpenChange = jest.fn();
+    const { unmount } = renderHook(() =>
+      useAccessibility({
+        open: true,
+        triggerRef: { current: trigger },
+        onOpenChange,
+        overlayRef: { current: wrapped ? wrapper : { list: root } },
+      }),
+    );
+    try {
+      child.focus();
+      act(() =>
+        child.dispatchEvent(
+          new KeyboardEvent('keydown', { keyCode: 27, bubbles: true }),
+        ),
+      );
+      expect(onOpenChange).toHaveBeenCalledTimes(1);
+      expect(onOpenChange).toHaveBeenCalledWith(false);
+      expect(document.activeElement).toBe(trigger);
+    } finally {
+      unmount();
+      trigger.remove();
+      wrapper.remove();
+    }
+  },
+);
+
+it('closes and restores focus from an actual rc-menu inline child', () => {
+  const onOpenChange = jest.fn();
+  const Fixture = () => {
+    const triggerRef = React.useRef<HTMLButtonElement>(null);
+    const overlayRef = React.useRef<any>(null);
+    useAccessibility({ open: true, triggerRef, overlayRef, onOpenChange });
+    return (
+      <>
+        <button ref={triggerRef}>Trigger</button>
+        <Menu
+          ref={overlayRef}
+          mode="inline"
+          defaultOpenKeys={['sub']}
+          items={[
+            {
+              key: 'sub',
+              label: 'Sub',
+              children: [{ key: 'child', label: 'Child' }],
+            },
+          ]}
+        />
+      </>
+    );
+  };
+  const { getByText, unmount } = render(<Fixture />);
+  try {
+    const child = getByText('Child').closest('li');
+    child.focus();
+    fireEvent.keyDown(child, { key: 'Escape', keyCode: 27, which: 27 });
+    expect(onOpenChange).toHaveBeenCalledTimes(1);
+    expect(onOpenChange).toHaveBeenCalledWith(false);
+    expect(getByText('Trigger')).toHaveFocus();
+  } finally {
+    unmount();
+  }
+});