diff --git a/sys/can/isotp/isotp.c b/sys/can/isotp/isotp.c
index 3de2401189..5ae8a9922c 100644
--- a/sys/can/isotp/isotp.c
+++ b/sys/can/isotp/isotp.c
@@ -878,6 +878,7 @@ int isotp_release(struct isotp *isotp)
         .can_mask = 0xFFFFFFFF,
     };
     raw_can_unsubscribe_rx(isotp->entry.ifnum, &filter, isotp_pid, isotp);
+    xtimer_remove(&isotp->rx_timer);
 
     if (isotp->rx.snip) {
         DEBUG("isotp_release: freeing rx buf\n");
@@ -887,6 +888,8 @@ int isotp_release(struct isotp *isotp)
     isotp->rx.state = ISOTP_IDLE;
     isotp->entry.target.pid = KERNEL_PID_UNDEF;
 
+    xtimer_remove(&isotp->tx_timer);
+
     mutex_lock(&lock);
     LL_DELETE(isotp_list, isotp);
     mutex_unlock(&lock);