diff --git a/drivers/net/wireless/ath/ar5523/ar5523.c b/drivers/net/wireless/ath/ar5523/ar5523.c
index 6f937d2cc1263e..ce3d613fa36c44 100644
--- a/drivers/net/wireless/ath/ar5523/ar5523.c
+++ b/drivers/net/wireless/ath/ar5523/ar5523.c
@@ -241,6 +241,11 @@ static void ar5523_cmd_tx_cb(struct urb *urb)
 	}
 }
 
+static void ar5523_cancel_tx_cmd(struct ar5523 *ar)
+{
+	usb_kill_urb(ar->tx_cmd.urb_tx);
+}
+
 static int ar5523_cmd(struct ar5523 *ar, u32 code, const void *idata,
 		      int ilen, void *odata, int olen, int flags)
 {
@@ -280,6 +285,7 @@ static int ar5523_cmd(struct ar5523 *ar, u32 code, const void *idata,
 	}
 
 	if (!wait_for_completion_timeout(&cmd->done, 2 * HZ)) {
+		ar5523_cancel_tx_cmd(ar);
 		cmd->odata = NULL;
 		ar5523_err(ar, "timeout waiting for command %02x reply\n",
 			   code);