diff --git a/e2e/tasks/test_task_failure_hang b/e2e/tasks/test_task_failure_hang
new file mode 100755
index 0000000000..d3ed15ce0e
--- /dev/null
+++ b/e2e/tasks/test_task_failure_hang
@@ -0,0 +1,38 @@
+#!/usr/bin/env bash
+set -euo pipefail
+# https://github.com/jdx/mise/discussions/6391
+
+cat <<EOF >mise.toml
+[tasks.fails]
+run = '''
+sleep 1;
+echo "An error occurred!"
+exit 1;
+'''
+
+[tasks.deponfails]
+depends = ["fails"]
+run = 'echo "This will not run because the dependency fails."'
+
+[tasks.grouped]
+run = [
+    { task = "deponfails" }
+]
+EOF
+
+# Test that task failure with dependencies does not hang
+timeout 5s mise run grouped 2>&1 && exit_code=0 || exit_code=$?
+
+# Check if it was a timeout (exit code 124)
+if [ "$exit_code" -eq 124 ]; then
+	echo "FAIL: Task hung after dependency failure (timeout reached)"
+	exit 1
+fi
+
+# The command should fail with exit code 1
+if [ "$exit_code" -ne 1 ]; then
+	echo "Expected exit code 1, got $exit_code"
+	exit 1
+fi
+
+echo "Test passed: task with failing dependency did not hang"
diff --git a/src/cli/run.rs b/src/cli/run.rs
index b33fa65b8e..cc1530d8f7 100644
--- a/src/cli/run.rs
+++ b/src/cli/run.rs
@@ -829,7 +829,7 @@ impl Run {
         let sub_deps = Arc::new(Mutex::new(sub_deps));
 
         // Pump subgraph into scheduler and signal completion via oneshot when done
-        let (done_tx, done_rx) = oneshot::channel::<()>();
+        let (done_tx, mut done_rx) = oneshot::channel::<()>();
         let task_env_directives: Vec<EnvDirective> =
             task_env.iter().cloned().map(Into::into).collect();
         {
@@ -887,10 +887,40 @@ impl Run {
             });
         }
 
-        // Wait for completion
-        done_rx.await.map_err(|e| eyre!(e))?;
+        // Wait for completion with a check for early stopping
+        loop {
+            // Check if we should stop early due to failure
+            if self.is_stopping() && !self.continue_on_error {
+                trace!("inject_and_wait: stopping early due to failure");
+                // Clean up the dependency graph to ensure completion
+                let mut deps = sub_deps.lock().await;
+                let tasks_to_remove: Vec<Task> = deps.all().cloned().collect();
+                for task in tasks_to_remove {
+                    deps.remove(&task);
+                }
+                drop(deps);
+                // Give a short time for the spawned task to finish cleanly
+                let _ = tokio::time::timeout(Duration::from_millis(100), done_rx).await;
+                return Err(eyre!("task sequence aborted due to failure"));
+            }
+
+            // Try to receive the done signal with a short timeout
+            match tokio::time::timeout(Duration::from_millis(100), &mut done_rx).await {
+                Ok(Ok(())) => {
+                    trace!("inject_and_wait: received done signal");
+                    break;
+                }
+                Ok(Err(e)) => {
+                    return Err(eyre!(e));
+                }
+                Err(_) => {
+                    // Timeout, check again if we should stop
+                    continue;
+                }
+            }
+        }
 
-        // Check if we failed during the execution
+        // Final check if we failed during the execution
         if self.is_stopping() && !self.continue_on_error {
             return Err(eyre!("task sequence aborted due to failure"));
         }