diff --git a/changelog/27726.txt b/changelog/27726.txt
new file mode 100644
index 0000000000..80f2cc850f
--- /dev/null
+++ b/changelog/27726.txt
@@ -0,0 +1,3 @@
+```release-note:bug
+raft/autopilot: Fixed panic that may occur during shutdown
+```
diff --git a/physical/raft/raft_autopilot.go b/physical/raft/raft_autopilot.go
index d6f8889809..6a5edf9703 100644
--- a/physical/raft/raft_autopilot.go
+++ b/physical/raft/raft_autopilot.go
@@ -636,7 +636,8 @@ func (b *RaftBackend) StopAutopilot() {
 	if b.autopilot == nil {
 		return
 	}
-	b.autopilot.Stop()
+	stopCh := b.autopilot.Stop()
+	<-stopCh
 	b.autopilot = nil
 	b.followerHeartbeatTicker.Stop()
 }