diff --git a/.changelog/3143.txt b/.changelog/3143.txt
new file mode 100644
index 00000000000..e112481a8ec
--- /dev/null
+++ b/.changelog/3143.txt
@@ -0,0 +1,3 @@
+```release-note:bug
+plugin/k8s: clean up pending pods from cancelled jobs
+```
diff --git a/builtin/k8s/platform.go b/builtin/k8s/platform.go
index dd325776876..92512c18d2e 100644
--- a/builtin/k8s/platform.go
+++ b/builtin/k8s/platform.go
@@ -480,7 +480,7 @@ func configureContainer(
 			}
 			resourceRequests[resourceName] = q
 		} else {
-			log.Warn("ignoring unrecognized k8s resources key: %q", k)
+			log.Warn("ignoring unrecognized k8s resources key", "key", k)
 		}
 	}
 
@@ -622,7 +622,7 @@ func (p *Platform) resourceDeploymentCreate(
 
 	// App container must have some kind of port
 	if len(appContainerSpec.Ports) == 0 {
-		log.Warn("No ports defined in waypoint.hcl - defaulting to http on port %d", DefaultServicePort)
+		log.Warn("No ports defined in waypoint.hcl - defaulting to http on port", "port", DefaultServicePort)
 		appContainerSpec.Ports = append(appContainerSpec.Ports, &Port{Port: DefaultServicePort, Name: "http"})
 	}
 
diff --git a/builtin/k8s/task.go b/builtin/k8s/task.go
index 7ae6bfa641f..bd0a3b087c0 100644
--- a/builtin/k8s/task.go
+++ b/builtin/k8s/task.go
@@ -13,6 +13,7 @@ import (
 	"google.golang.org/grpc/status"
 	batchv1 "k8s.io/api/batch/v1"
 	corev1 "k8s.io/api/core/v1"
+	"k8s.io/apimachinery/pkg/api/errors"
 	k8sresource "k8s.io/apimachinery/pkg/api/resource"
 	metav1 "k8s.io/apimachinery/pkg/apis/meta/v1"
 	"k8s.io/utils/pointer"
@@ -143,13 +144,59 @@ func (p *TaskLauncher) StopTask(
 	log hclog.Logger,
 	ti *TaskInfo,
 ) error {
-	// Purposely do nothing. We leverage the job TTL feature in Kube 1.19+
-	// so that Kubernetes automatically deletes old jobs after they complete
-	// running.
+	// If a job completes and the coresponding pod exits with a "completed"
+	// status, we urposely do nothing here. We leverage the job TTL feature in
+	// Kube 1.19+ so that Kubernetes automatically deletes old jobs and pods
+	// after they complete running.
 	//
-	// In the future, we may want to get more clever about this and explicitly
-	// delete jobs under certain conditions, but for now we leave them around
-	// and let K8S clean it up
+	// If a Waypoint job is cancelled or otherwise times out, we check for
+	// existing Kubernetes jobs and delete them, and clean up any Pending
+	// containers.
+	clientSet, ns, _, err := Clientset(p.config.KubeconfigPath, p.config.Context)
+	if err != nil {
+		return err
+	}
+	if p.config.Namespace != "" {
+		ns = p.config.Namespace
+	}
+
+	// Delete the job. This does *not* delete any running pods that the job
+	// created.
+	jobsClient := clientSet.BatchV1().Jobs(ns)
+	if err := jobsClient.Delete(ctx, ti.Id, metav1.DeleteOptions{}); err != nil {
+		if !errors.IsNotFound(err) {
+			return err
+		}
+	}
+
+	// List pods with this job label
+	podsClient := clientSet.CoreV1().Pods(ns)
+	pods, err := podsClient.List(ctx, metav1.ListOptions{
+		LabelSelector: fmt.Sprintf("job-name=%s", ti.Id),
+	})
+	// It's not clear from the documentation if an error is returned from the
+	// List API call if no jobs are found, so we guard here just in case
+	if err != nil && !errors.IsNotFound(err) {
+		return err
+	}
+
+	if pods == nil {
+		log.Info("no pods found for job, returning", "job_id", ti.Id)
+		return nil
+	}
+
+	// Delete any pods stuck in pending
+	for _, p := range pods.Items {
+		if p.Status.Phase == corev1.PodPending {
+			log.Warn("job pod is in pending phase in StopTask operation, cancelling", "job_id", ti.Id)
+			if err := podsClient.Delete(ctx, p.Name, metav1.DeleteOptions{}); err != nil {
+				if !errors.IsNotFound(err) {
+					return err
+				}
+			}
+		}
+	}
+
 	return nil
 }
 
@@ -205,8 +252,8 @@ func (p *TaskLauncher) StartTask(
 	}
 
 	// Get container resource limits and requests
-	var resourceLimits = make(map[corev1.ResourceName]k8sresource.Quantity)
-	var resourceRequests = make(map[corev1.ResourceName]k8sresource.Quantity)
+	resourceLimits := make(map[corev1.ResourceName]k8sresource.Quantity)
+	resourceRequests := make(map[corev1.ResourceName]k8sresource.Quantity)
 	resourceRequirements := corev1.ResourceRequirements{
 		Limits:   resourceLimits,
 		Requests: resourceRequests,