diff --git a/src/transport/raw/ActiveTCPConnectionState.h b/src/transport/raw/ActiveTCPConnectionState.h
index 0f53d4479e9300..2176048cc25364 100644
--- a/src/transport/raw/ActiveTCPConnectionState.h
+++ b/src/transport/raw/ActiveTCPConnectionState.h
@@ -62,7 +62,10 @@ struct ActiveTCPConnectionState
 
     void Free()
     {
-        mEndPoint->Free();
+        if (mEndPoint)
+        {
+            mEndPoint->Free();
+        }
         mPeerAddr = PeerAddress::Uninitialized();
         mEndPoint = nullptr;
         mReceived = nullptr;
diff --git a/src/transport/raw/TCP.cpp b/src/transport/raw/TCP.cpp
index f12ee7892ad2d0..9976874d8dc6f1 100644
--- a/src/transport/raw/TCP.cpp
+++ b/src/transport/raw/TCP.cpp
@@ -55,14 +55,8 @@ constexpr int kListenBacklogSize = 2;
 
 TCPBase::~TCPBase()
 {
-    if (mListenSocket != nullptr)
-    {
-        // endpoint is only non null if it is initialized and listening
-        mListenSocket->Free();
-        mListenSocket = nullptr;
-    }
-
-    CloseActiveConnections();
+    // Call Close to free the listening socket and close all active connections.
+    Close();
 }
 
 void TCPBase::CloseActiveConnections()
@@ -125,6 +119,9 @@ void TCPBase::Close()
         mListenSocket->Free();
         mListenSocket = nullptr;
     }
+
+    CloseActiveConnections();
+
     mState = TCPState::kNotReady;
 }
 
diff --git a/src/transport/raw/tests/TestTCP.cpp b/src/transport/raw/tests/TestTCP.cpp
index 80d56707481c45..00eb0562c96172 100644
--- a/src/transport/raw/tests/TestTCP.cpp
+++ b/src/transport/raw/tests/TestTCP.cpp
@@ -610,6 +610,29 @@ TEST_F(TestTCP, HandleConnCloseCalledTest6)
     HandleConnCloseTest(addr);
 }
 
+TEST_F(TestTCP, CheckTCPEndpointAfterCloseTest)
+{
+    TCPImpl tcp;
+
+    IPAddress addr;
+    IPAddress::FromString("::1", addr);
+
+    MockTransportMgrDelegate gMockTransportMgrDelegate(mIOContext);
+    gMockTransportMgrDelegate.InitializeMessageTest(tcp, addr);
+    gMockTransportMgrDelegate.ConnectTest(tcp, addr);
+
+    Transport::PeerAddress lPeerAddress = Transport::PeerAddress::TCP(addr, gChipTCPPort);
+    void * state                        = TestAccess::FindActiveConnection(tcp, lPeerAddress);
+    ASSERT_NE(state, nullptr);
+    TCPEndPoint * lEndPoint = TestAccess::GetEndpoint(state);
+    ASSERT_NE(lEndPoint, nullptr);
+
+    // Call Close and check the TCPEndpoint
+    tcp.Close();
+    lEndPoint = TestAccess::GetEndpoint(state);
+    ASSERT_EQ(lEndPoint, nullptr);
+}
+
 TEST_F(TestTCP, CheckProcessReceivedBuffer)
 {
     TCPImpl tcp;