diff --git a/lib/adapters/http.js b/lib/adapters/http.js
index 20ba3cf8..ad52b7e6 100755
--- a/lib/adapters/http.js
+++ b/lib/adapters/http.js
@@ -108,6 +108,9 @@ class Http2Sessions {
           } else {
             entries.splice(i, 1);
           }
+          if (!session.closed) {
+            session.close();
+          }
           return;
         }
       }
diff --git a/test/unit/adapters/http.js b/test/unit/adapters/http.js
index 77bbe495..dfdc3b49 100644
--- a/test/unit/adapters/http.js
+++ b/test/unit/adapters/http.js
@@ -3045,6 +3045,37 @@ describe('supports http with nodejs', function () {
         assert.strictEqual(data1, 'OK');
         assert.strictEqual(data2, 'OK');
       });
+
+      it('should close connection after sessionTimeout ends', async () => {
+        server = await startHTTPServer(
+          (req, res) => {
+            setTimeout(() => res.end('OK'), 100);
+          },
+          {
+            useHTTP2: true,
+          }
+        );
+
+        const response = await http2Axios.get(LOCAL_SERVER_URL, {
+          responseType: 'stream',
+          http2Options: {
+            sessionTimeout: 1000,
+          },
+        });
+
+        assert.strictEqual(response.data.session.closed, false);
+
+        let sessionClosed = false;
+        response.data.session.once('close', () => {
+          sessionClosed = true;
+        });
+
+        const data = await getStream(response.data);
+        assert.strictEqual(data, 'OK');
+
+        await setTimeoutAsync(1100);
+        assert.strictEqual(sessionClosed, true);
+      });
     });
   });