diff --git a/quinn/src/recv_stream.rs b/quinn/src/recv_stream.rs
index 203e84abe..3f581b6ba 100644
--- a/quinn/src/recv_stream.rs
+++ b/quinn/src/recv_stream.rs
@@ -280,6 +280,9 @@ impl RecvStream {
         conn.inner.recv_stream(self.stream).stop(error_code)?;
         conn.wake();
         self.all_data_read = true;
+        // Clean up shared state that might be left over from a cancalled read
+        // operation, so `drop` doesn't have to
+        conn.blocked_readers.remove(&self.stream);
         Ok(())
     }
 
diff --git a/quinn/src/tests.rs b/quinn/src/tests.rs
index 8ff7aabd9..ffe4507f2 100755
--- a/quinn/src/tests.rs
+++ b/quinn/src/tests.rs
@@ -10,6 +10,7 @@ use std::{
     future::Future,
     io,
     net::{IpAddr, Ipv4Addr, Ipv6Addr, SocketAddr, UdpSocket},
+    pin::pin,
     str,
     sync::{
         Arc,
@@ -27,8 +28,11 @@ use rustls::{
     RootCertStore,
     pki_types::{CertificateDer, PrivateKeyDer, PrivatePkcs8KeyDer},
 };
-use tokio::runtime::{Builder, Runtime};
 use tokio::time::{sleep, timeout};
+use tokio::{
+    join,
+    runtime::{Builder, Runtime},
+};
 use tracing::{error_span, info};
 use tracing_futures::Instrument as _;
 use tracing_subscriber::EnvFilter;
@@ -1007,6 +1011,52 @@ async fn stream_drop_removes_blocked_reader() {
     }
 }
 
+/// Test that dropping a `RecvStream` after cancelling a read and then
+/// explicitly `stop`ing it doesn't panic.
+#[tokio::test]
+async fn recv_stream_cancel_stop_drop() {
+    let _guard = subscribe();
+    let factory = EndpointFactory::new();
+    let server = {
+        let _guard = error_span!("server").entered();
+        factory.endpoint()
+    };
+    let server_addr = server.local_addr().unwrap();
+
+    let client = {
+        let _guard = error_span!("client").entered();
+        factory.endpoint()
+    };
+    let recv_dropped = tokio::sync::SetOnce::new();
+    join!(
+        async {
+            let conn = server.accept().await.unwrap().await.unwrap();
+            let mut recv = conn.accept_uni().await.unwrap();
+            // Create a future to read from the stream, poll it once, then immediately drop it
+            {
+                let fut = pin!(recv.read_to_end(usize::MAX));
+                let mut cx = Context::from_waker(Waker::noop());
+                assert!(fut.poll(&mut cx).is_pending());
+            }
+            recv_dropped.set(()).unwrap();
+            recv.stop(0u32.into()).unwrap();
+        },
+        async {
+            let conn = client
+                .connect(server_addr, "localhost")
+                .unwrap()
+                .await
+                .unwrap();
+            let mut send = conn.open_uni().await.unwrap();
+            _ = send.write_all(b"hello").await;
+            // Don't drop (finish) the send stream until the read has been
+            // cancelled by the server, ensuring that read_to_end can't complete
+            // immediately.
+            recv_dropped.wait().await;
+        },
+    );
+}
+
 #[derive(Default)]
 struct WakeCounter {
     wakes: AtomicUsize,