diff --git a/spot_driver/src/spot_driver/spot_ros.py b/spot_driver/src/spot_driver/spot_ros.py
index 32175dd2..ba3e8688 100644
--- a/spot_driver/src/spot_driver/spot_ros.py
+++ b/spot_driver/src/spot_driver/spot_ros.py
@@ -977,6 +977,7 @@ def handle_trajectory(self, req: TrajectoryGoal):
         )
 
         def timeout_cb(trajectory_server, _):
+            self.spot_wrapper.stop()
             trajectory_server.publish_feedback(
                 TrajectoryFeedback("Failed to reach goal, timed out")
             )