diff --git a/pkg/tinydtls/contrib/sock_dtls.c b/pkg/tinydtls/contrib/sock_dtls.c
index 7c537370c7..4b8611c115 100644
--- a/pkg/tinydtls/contrib/sock_dtls.c
+++ b/pkg/tinydtls/contrib/sock_dtls.c
@@ -561,7 +561,11 @@ int sock_dtls_session_init(sock_dtls_t *sock, const sock_udp_ep_t *ep,
 
 void sock_dtls_session_destroy(sock_dtls_t *sock, sock_dtls_session_t *remote)
 {
-    dtls_close(sock->dtls_ctx, &remote->dtls_session);
+    dtls_peer_t *peer = dtls_get_peer(sock->dtls_ctx, &remote->dtls_session);
+    if (peer) {
+        /* dtls_reset_peer() also sends close_notify if not already sent */
+        dtls_reset_peer(sock->dtls_ctx, peer);
+    }
 }
 
 void sock_dtls_session_get_udp_ep(const sock_dtls_session_t *session,
diff --git a/sys/include/net/sock/dtls.h b/sys/include/net/sock/dtls.h
index 55a1377229..61d1b03660 100644
--- a/sys/include/net/sock/dtls.h
+++ b/sys/include/net/sock/dtls.h
@@ -702,6 +702,11 @@ int sock_dtls_session_init(sock_dtls_t *sock, const sock_udp_ep_t *ep,
  *
  * @param[in] sock      @ref sock_dtls_t, which the session is created on
  * @param[in] remote    Remote session to destroy
+ *
+ * @note For tinyDTLS this function destroys the session object right after notifying the remote
+ *       peer about the closing. This is an interim solution, preventing endlessly blocked session
+ *       slots, but allows as a consequence truncation attacks.
+ *       More details in the [issue](https://github.com/eclipse/tinydtls/issues/95).
  */
 void sock_dtls_session_destroy(sock_dtls_t *sock, sock_dtls_session_t *remote);