diff --git a/tests/kernel/semaphore/semaphore/src/main.c b/tests/kernel/semaphore/semaphore/src/main.c
index 582114ec963..5e62c6b38cf 100644
--- a/tests/kernel/semaphore/semaphore/src/main.c
+++ b/tests/kernel/semaphore/semaphore/src/main.c
@@ -585,6 +585,8 @@ void test_sem_take_timeout_isr(void)
 	k_sem_reset(&simple_sem);
 
 	expect_k_sem_take_nomsg(&simple_sem, SEM_TIMEOUT, 0);
+
+	k_thread_join(&sem_tid_1, K_FOREVER);
 }
 
 /**