diff --git a/src/inet/UDPEndPoint.cpp b/src/inet/UDPEndPoint.cpp
index e0907d951a9e65..b0b6f3f861e989 100644
--- a/src/inet/UDPEndPoint.cpp
+++ b/src/inet/UDPEndPoint.cpp
@@ -125,8 +125,8 @@ void UDPEndPoint::Close()
 {
     if (mState != State::kClosed)
     {
-        CloseImpl();
         mState = State::kClosed;
+        CloseImpl();
     }
 }
 
diff --git a/src/inet/UDPEndPointImplLwIP.cpp b/src/inet/UDPEndPointImplLwIP.cpp
index d5e90568f7af84..6c13c1d92479c3 100644
--- a/src/inet/UDPEndPointImplLwIP.cpp
+++ b/src/inet/UDPEndPointImplLwIP.cpp
@@ -241,6 +241,13 @@ void UDPEndPointImplLwIP::CloseImpl()
         udp_remove(mUDP);
         mUDP              = nullptr;
         mLwIPEndPointType = LwIPEndPointType::Unknown;
+
+        // In case that there is a UDPEndPointImplLwIP::LwIPReceiveUDPMessage
+        // event pending in the event queue (SystemLayer::ScheduleLambda), we
+        // schedule a release call to the end of the queue, to ensure that the
+        // queued pointer to UDPEndPointImplLwIP is not dangling.
+        Retain();
+        CHIP_ERROR err = GetSystemLayer().ScheduleLambda([this] { Release(); });
     }
 
     // Unlock LwIP stack
@@ -342,6 +349,10 @@ void UDPEndPointImplLwIP::LwIPReceiveUDPMessage(void * arg, struct udp_pcb * pcb
     UDPEndPointImplLwIP * ep       = static_cast<UDPEndPointImplLwIP *>(arg);
     IPPacketInfo * pktInfo         = nullptr;
     System::PacketBufferHandle buf = System::PacketBufferHandle::Adopt(p);
+
+    if (ep->mState == State::kClosed)
+        return;
+
     if (buf->HasChainedBuffer())
     {
         // Try the simple expedient of flattening in-place.
diff --git a/src/inet/UDPEndPointImplOpenThread.cpp b/src/inet/UDPEndPointImplOpenThread.cpp
index 02f11ba30bdf75..bab013da302105 100644
--- a/src/inet/UDPEndPointImplOpenThread.cpp
+++ b/src/inet/UDPEndPointImplOpenThread.cpp
@@ -54,6 +54,9 @@ void UDPEndPointImplOT::handleUdpReceive(void * aContext, otMessage * aMessage,
     char destStr[Inet::IPAddress::kMaxStringLength];
 #endif
 
+    if (ep->mState == State::kClosed)
+        return;
+
     if (msgLen > System::PacketBuffer::kMaxSizeWithoutReserve)
     {
         ChipLogError(Inet, "UDP message too long, discarding. Size received %d", msgLen);
@@ -261,6 +264,13 @@ void UDPEndPointImplOT::CloseImpl()
     if (otUdpIsOpen(mOTInstance, &mSocket))
     {
         otUdpClose(mOTInstance, &mSocket);
+
+        // In case that there is a UDPEndPointImplOT::handleUdpReceive event
+        // pending in the event queue (SystemLayer::ScheduleLambda), we
+        // schedule a release call to the end of the queue, to ensure that the
+        // queued pointer to UDPEndPointImplOT is not dangling.
+        Retain();
+        CHIP_ERROR err = GetSystemLayer().ScheduleLambda([this] { Release(); });
     }
     UnlockOpenThread();
 }