diff --git a/python/ray/util/client/worker.py b/python/ray/util/client/worker.py
index cd7089cb5129..989eed79607e 100644
--- a/python/ray/util/client/worker.py
+++ b/python/ray/util/client/worker.py
@@ -7,6 +7,7 @@
 import json
 import logging
 import os
+import queue
 import tempfile
 import threading
 import time
@@ -163,6 +164,14 @@ def __init__(
         self._req_id_lock = threading.Lock()
         self._req_id = 0
 
+        # ReleaseObject grabs a lock, so it should not be called directly from
+        # __del__ methods that may be executed at any time on the Python main thread.
+        self._release_queue = queue.SimpleQueue()
+        self._release_thread = threading.Thread(
+            target=self._release_server_worker, daemon=True
+        )
+        self._release_thread.start()
+
     def _connect_channel(self, reconnecting=False) -> None:
         """
         Attempts to connect to the server specified by conn_str. If
@@ -644,8 +653,37 @@ def call_release(self, id: bytes) -> None:
 
     def _release_server(self, id: bytes) -> None:
         if self.data_client is not None:
-            logger.debug(f"Releasing {id.hex()}")
-            self.data_client.ReleaseObject(ray_client_pb2.ReleaseRequest(ids=[id]))
+            logger.debug(f"Put {id.hex()} to release queue")
+            self._release_queue.put(id)
+
+    def _release_server_worker(self):
+        """Background thread to release objects from the server.
+
+        Runs forever until a sentinel is received.
+        """
+        while not self.closed:
+            try:
+                id = self._release_queue.get(timeout=1)
+                if id is None:  # Sentinel value for shutdown
+                    logger.debug("Received sentinel, will stop release thread.")
+                    break
+
+                if self.data_client is not None:
+                    logger.debug(f"Releasing {id.hex()}")
+                    try:
+                        self.data_client.ReleaseObject(
+                            ray_client_pb2.ReleaseRequest(ids=[id])
+                        )
+                    except Exception as e:
+                        # Log the error but continue processing
+                        # This prevents the release thread from crashing
+                        logger.warning(
+                            f"Failed to release object {id.hex()}: {e}. "
+                            "This is expected if the connection is closed."
+                        )
+            except queue.Empty:
+                continue
+        logger.debug("Release thread finished.")
 
     def call_retain(self, id: bytes) -> None:
         logger.debug(f"Retaining {id.hex()}")
@@ -653,6 +691,13 @@ def call_retain(self, id: bytes) -> None:
 
     def close(self):
         self._in_shutdown = True
+
+        self._release_queue.put(None)  # Sentinel
+        timeout = 5
+        self._release_thread.join(timeout=timeout)
+        if self._release_thread.is_alive():
+            logger.warning(f"The release thread failed to join in {timeout}s.")
+
         self.closed = True
         self.data_client.close()
         self.log_client.close()