diff --git a/include/kernel.h b/include/kernel.h
index 835a99fe1db..b9d09d96b80 100644
--- a/include/kernel.h
+++ b/include/kernel.h
@@ -3020,8 +3020,9 @@ int k_work_cancel(struct k_work *work);
  * one completes.  On architectures with CONFIG_KERNEL_COHERENCE the object
  * must be allocated in coherent memory.
  *
- * @retval true if work was not idle (call had to wait for cancellation to
- * complete);
+ * @retval true if work was pending (call had to wait for cancellation of a
+ * running handler to complete, or scheduled or submitted operations were
+ * cancelled);
  * @retval false otherwise
  */
 bool k_work_cancel_sync(struct k_work *work, struct k_work_sync *sync);
@@ -3357,8 +3358,9 @@ int k_work_cancel_delayable(struct k_work_delayable *dwork);
  * one completes.  On architectures with CONFIG_KERNEL_COHERENCE the object
  * must be allocated in coherent memory.
  *
- * @retval true if work was not idle (call had to wait for cancellation to
- * complete);
+ * @retval true if work was not idle (call had to wait for cancellation of a
+ * running handler to complete, or scheduled or submitted operations were
+ * cancelled);
  * @retval false otherwise
  */
 bool k_work_cancel_delayable_sync(struct k_work_delayable *dwork,
diff --git a/kernel/work.c b/kernel/work.c
index 1e31a9e7772..cc94560c291 100644
--- a/kernel/work.c
+++ b/kernel/work.c
@@ -524,10 +524,13 @@ bool k_work_cancel_sync(struct k_work *work,
 
 	struct z_work_canceller *canceller = &sync->canceller;
 	k_spinlock_key_t key = k_spin_lock(&lock);
+	bool pending = (work_busy_get_locked(work) != 0U);
+	bool need_wait = false;
 
-	(void)cancel_async_locked(work);
-
-	bool need_wait = cancel_sync_locked(work, canceller);
+	if (pending) {
+		(void)cancel_async_locked(work);
+		need_wait = cancel_sync_locked(work, canceller);
+	}
 
 	k_spin_unlock(&lock, key);
 
@@ -535,7 +538,7 @@ bool k_work_cancel_sync(struct k_work *work,
 		k_sem_take(&canceller->sem, K_FOREVER);
 	}
 
-	return need_wait;
+	return pending;
 }
 
 /* Work has been dequeued and is about to be invoked by the work
@@ -983,10 +986,13 @@ bool k_work_cancel_delayable_sync(struct k_work_delayable *dwork,
 
 	struct z_work_canceller *canceller = &sync->canceller;
 	k_spinlock_key_t key = k_spin_lock(&lock);
+	bool pending = (work_delayable_busy_get_locked(dwork) != 0U);
+	bool need_wait = false;
 
-	(void)cancel_delayable_async_locked(dwork);
-
-	bool need_wait = cancel_sync_locked(&dwork->work, canceller);
+	if (pending) {
+		(void)cancel_delayable_async_locked(dwork);
+		need_wait = cancel_sync_locked(&dwork->work, canceller);
+	}
 
 	k_spin_unlock(&lock, key);
 
@@ -994,7 +1000,7 @@ bool k_work_cancel_delayable_sync(struct k_work_delayable *dwork,
 		k_sem_take(&canceller->sem, K_FOREVER);
 	}
 
-	return need_wait;
+	return pending;
 }
 
 bool k_work_flush_delayable(struct k_work_delayable *dwork,
diff --git a/tests/kernel/workq/work/src/main.c b/tests/kernel/workq/work/src/main.c
index 1f92414e22b..342fd59a05b 100644
--- a/tests/kernel/workq/work/src/main.c
+++ b/tests/kernel/workq/work/src/main.c
@@ -537,8 +537,10 @@ static void test_1cpu_queued_cancel_sync(void)
 	zassert_equal(rc, 1, NULL);
 	zassert_equal(coophi_counter(), 0, NULL);
 
-	/* Cancellation should complete immediately. */
-	zassert_false(k_work_cancel_sync(&work, &work_sync), NULL);
+	/* Cancellation should complete immediately, indicating that
+	 * work was pending.
+	 */
+	zassert_true(k_work_cancel_sync(&work, &work_sync), NULL);
 
 	/* Shouldn't have run. */
 	zassert_equal(coophi_counter(), 0, NULL);
@@ -582,8 +584,10 @@ static void test_1cpu_delayed_cancel_sync(void)
 	zassert_equal(rc, 1, NULL);
 	zassert_equal(coophi_counter(), 0, NULL);
 
-	/* Cancellation should complete immediately. */
-	zassert_false(k_work_cancel_delayable_sync(&dwork, &work_sync), NULL);
+	/* Cancellation should complete immediately, indicating that
+	 * work was pending.
+	 */
+	zassert_true(k_work_cancel_delayable_sync(&dwork, &work_sync), NULL);
 
 	/* Shouldn't have run. */
 	zassert_equal(coophi_counter(), 0, NULL);