diff --git a/src/fastmcp/server/server.py b/src/fastmcp/server/server.py
index c3b6f7fbf..83223084b 100644
--- a/src/fastmcp/server/server.py
+++ b/src/fastmcp/server/server.py
@@ -465,10 +465,12 @@ class FastMCP(Generic[LifespanResultT]):
                             try:
                                 yield
                             finally:
-                                # Cancel worker task on exit
+                                # Cancel worker task on exit with timeout to prevent hanging
                                 worker_task.cancel()
-                                with suppress(asyncio.CancelledError):
-                                    await worker_task
+                                with suppress(
+                                    asyncio.CancelledError, asyncio.TimeoutError
+                                ):
+                                    await asyncio.wait_for(worker_task, timeout=2.0)
                         finally:
                             _current_worker.reset(worker_token)
                 finally: