diff --git a/platforms/common/uORB/uORBDeviceNode.cpp b/platforms/common/uORB/uORBDeviceNode.cpp
index cfb92a21c3b4..c4c765cde90a 100644
--- a/platforms/common/uORB/uORBDeviceNode.cpp
+++ b/platforms/common/uORB/uORBDeviceNode.cpp
@@ -917,6 +917,12 @@ uORB::DeviceNode::_unregister_callback(uorb_cb_handle_t &cb_handle)
 		PX4_ERR("unregister fail\n");
 
 	} else {
+		EventWaitItem *item = callbacks.peek(cb_handle);
+
+		while (__atomic_fetch_sub(&item->cb_triggered, 1, __ATOMIC_SEQ_CST) >= 0) {
+			Manager::lockThread(item->lock);
+		}
+
 		callbacks.push_free(cb_handle);
 		cb_handle = UORB_INVALID_CB_HANDLE;
 	}