diff --git a/platforms/common/include/px4_platform_common/px4_work_queue/WorkQueue.hpp b/platforms/common/include/px4_platform_common/px4_work_queue/WorkQueue.hpp
index d1ad917cdd..f2a66bb898 100644
--- a/platforms/common/include/px4_platform_common/px4_work_queue/WorkQueue.hpp
+++ b/platforms/common/include/px4_platform_common/px4_work_queue/WorkQueue.hpp
@@ -96,6 +96,7 @@ private:
 
 	IntrusiveQueue<WorkItem *>	_q;
 	px4_sem_t			_process_lock;
+	px4_sem_t			_exit_lock;
 	const wq_config_t		&_config;
 	BlockingList<WorkItem *>	_work_items;
 	px4::atomic_bool		_should_exit{false};
diff --git a/platforms/common/px4_work_queue/WorkQueue.cpp b/platforms/common/px4_work_queue/WorkQueue.cpp
index 48b88c7290..fa32017912 100644
--- a/platforms/common/px4_work_queue/WorkQueue.cpp
+++ b/platforms/common/px4_work_queue/WorkQueue.cpp
@@ -59,11 +59,20 @@ WorkQueue::WorkQueue(const wq_config_t &config) :
 
 	px4_sem_init(&_process_lock, 0, 0);
 	px4_sem_setprotocol(&_process_lock, SEM_PRIO_NONE);
+
+	px4_sem_init(&_exit_lock, 0, 1);
+	px4_sem_setprotocol(&_exit_lock, SEM_PRIO_NONE);
 }
 
 WorkQueue::~WorkQueue()
 {
+
 	work_lock();
+
+	// Synchronize with ::Detach
+	px4_sem_wait(&_exit_lock);
+	px4_sem_destroy(&_exit_lock);
+
 	px4_sem_destroy(&_process_lock);
 	work_unlock();
 
@@ -83,11 +92,14 @@ bool WorkQueue::Attach(WorkItem *item)
 	}
 
 	work_unlock();
+
 	return false;
 }
 
 void WorkQueue::Detach(WorkItem *item)
 {
+	bool exiting = false;
+
 	work_lock();
 
 	_work_items.remove(item);
@@ -96,11 +108,21 @@ void WorkQueue::Detach(WorkItem *item)
 		// shutdown, no active WorkItems
 		PX4_DEBUG("stopping: %s, last active WorkItem closing", _config.name);
 
+		// Deletion of this work queue might happen right after request_stop or
+		// SignalWorkerThread. Use a separate lock to prevent premature deletion
+		px4_sem_wait(&_exit_lock);
+		exiting = true;
 		request_stop();
 		SignalWorkerThread();
 	}
 
 	work_unlock();
+
+	// In case someone is deleting this wq already, signal
+	// that it is now allowed
+	if (exiting) {
+		px4_sem_post(&_exit_lock);
+	}
 }
 
 void WorkQueue::Add(WorkItem *item)