diff --git a/src/modules/commander/failsafe/failsafe_test.cpp b/src/modules/commander/failsafe/failsafe_test.cpp
index a02c42f898..5bae2d601b 100644
--- a/src/modules/commander/failsafe/failsafe_test.cpp
+++ b/src/modules/commander/failsafe/failsafe_test.cpp
@@ -370,6 +370,46 @@ TEST_F(FailsafeTest, defer)
 	ASSERT_FALSE(failsafe.failsafeDeferred());
 }
 
+TEST_F(FailsafeTest, defer_and_clear)
+{
+	FailsafeTester failsafe(nullptr);
+
+	failsafe_flags_s failsafe_flags{};
+	FailsafeBase::State state{};
+	state.armed = true;
+	state.user_intended_mode = vehicle_status_s::NAVIGATION_STATE_POSCTL;
+	state.vehicle_type = vehicle_status_s::VEHICLE_TYPE_ROTARY_WING;
+	hrt_abstime time = 3847124342;
+
+	uint8_t updated_user_intented_mode = failsafe.update(time, state, false, false, failsafe_flags);
+
+	failsafe.deferFailsafes(true, -1);
+	ASSERT_TRUE(failsafe.getDeferFailsafes());
+	ASSERT_FALSE(failsafe.failsafeDeferred());
+	// Manual control lost -> deferred
+	time += 10_ms;
+	failsafe_flags.manual_control_signal_lost = true;
+	updated_user_intented_mode = failsafe.update(time, state, false, false, failsafe_flags);
+	ASSERT_EQ(failsafe.selectedAction(), FailsafeBase::Action::None);
+	ASSERT_TRUE(failsafe.failsafeDeferred());
+
+	// Clear flag (the failsafe action only clears on mode switch, but we still expect it to clear as it's being deferred)
+	failsafe_flags.manual_control_signal_lost = false;
+	time += 5_s;
+	updated_user_intented_mode = failsafe.update(time, state, false, false, failsafe_flags);
+	ASSERT_EQ(failsafe.selectedAction(), FailsafeBase::Action::None);
+	ASSERT_FALSE(failsafe.failsafeDeferred());
+
+	// Wait a bit, don't defer anymore -> no failsafe triggered
+	time += 1_s;
+	failsafe.deferFailsafes(false, 0);
+	updated_user_intented_mode = failsafe.update(time, state, false, false, failsafe_flags);
+	ASSERT_EQ(updated_user_intented_mode, state.user_intended_mode);
+	ASSERT_EQ(failsafe.selectedAction(), FailsafeBase::Action::None);
+	ASSERT_FALSE(failsafe.getDeferFailsafes());
+	ASSERT_FALSE(failsafe.failsafeDeferred());
+}
+
 TEST_F(FailsafeTest, skip_failsafe)
 {
 	FailsafeTester failsafe(nullptr);
diff --git a/src/modules/commander/failsafe/framework.cpp b/src/modules/commander/failsafe/framework.cpp
index 0632c0681e..7b3e48c9dd 100644
--- a/src/modules/commander/failsafe/framework.cpp
+++ b/src/modules/commander/failsafe/framework.cpp
@@ -396,7 +396,11 @@ bool FailsafeBase::checkFailsafe(int caller_id, bool last_state_failure, bool cu
 
 void FailsafeBase::removeAction(ActionOptions &action) const
 {
-	if (action.clear_condition == ClearCondition::WhenConditionClears) {
+	// If failsafes are being deferred and the action can be deferred, remove it immediately independent of the
+	// clear_condition to avoid triggering a failsafe after deferring is disabled.
+	const bool remove_while_deferring = _defer_failsafes && action.can_be_deferred;
+
+	if (action.clear_condition == ClearCondition::WhenConditionClears || remove_while_deferring) {
 		// Remove action
 		PX4_DEBUG("Caller %i: state changed to valid, removing action", action.id);
 		action.setInvalid();
@@ -482,8 +486,13 @@ void FailsafeBase::getSelectedAction(const State &state, const failsafe_flags_s
 	}
 
 	// Check if we should enter delayed Hold
+	const bool action_can_be_delayed = selected_action != Action::None &&
+					   selected_action != Action::Disarm &&
+					   selected_action != Action::Terminate &&
+					   selected_action != Action::Hold;
+
 	if (_current_delay > 0 && !_user_takeover_active && allow_user_takeover <= UserTakeoverAllowed::AlwaysModeSwitchOnly
-	    && selected_action != Action::Disarm && selected_action != Action::Terminate && selected_action != Action::Hold) {
+	    && action_can_be_delayed) {
 		returned_state.delayed_action = selected_action;
 		selected_action = Action::Hold;
 		allow_user_takeover = UserTakeoverAllowed::AlwaysModeSwitchOnly;
@@ -711,6 +720,10 @@ bool FailsafeBase::deferFailsafes(bool enabled, int timeout_s)
 		return false;
 	}
 
+	if (!enabled && _failsafe_defer_started == 0) {
+		_current_delay = 0;
+	}
+
 	if (timeout_s == 0) {
 		_defer_timeout = DEFAULT_DEFER_TIMEOUT;