diff --git a/server_test.go b/server_test.go
index a828d77b..8c6407c3 100644
--- a/server_test.go
+++ b/server_test.go
@@ -252,8 +252,18 @@ func TestServerConnClose(t *testing.T) {
 	nconn, err := net.Dial("tcp", "localhost:8554")
 	require.NoError(t, err)
 	defer nconn.Close()
+	conn := conn.NewConn(nconn)
 
 	<-nconnClosed
+
+	_, err = writeReqReadRes(conn, base.Request{
+		Method: base.Options,
+		URL:    mustParseURL("rtsp://localhost:8554/"),
+		Header: base.Header{
+			"CSeq": base.HeaderValue{"1"},
+		},
+	})
+	require.Error(t, err)
 }
 
 func TestServerCSeq(t *testing.T) {
@@ -795,21 +805,24 @@ func TestServerErrorInvalidSession(t *testing.T) {
 }
 
 func TestServerSessionClose(t *testing.T) {
-	sessionClosed := make(chan struct{})
+	stream := NewServerStream(Tracks{&TrackH264{
+		PayloadType: 96,
+		SPS:         []byte{0x01, 0x02, 0x03, 0x04},
+		PPS:         []byte{0x01, 0x02, 0x03, 0x04},
+	}})
+	defer stream.Close()
+
+	var session *ServerSession
 
 	s := &Server{
 		Handler: &testServerHandler{
 			onSessionOpen: func(ctx *ServerHandlerOnSessionOpenCtx) {
-				ctx.Session.Close()
-				ctx.Session.Close()
-			},
-			onSessionClose: func(ctx *ServerHandlerOnSessionCloseCtx) {
-				close(sessionClosed)
+				session = ctx.Session
 			},
 			onSetup: func(ctx *ServerHandlerOnSetupCtx) (*base.Response, *ServerStream, error) {
 				return &base.Response{
 					StatusCode: base.StatusOK,
-				}, nil, nil
+				}, stream, nil
 			},
 		},
 		RTSPAddress: "localhost:8554",
@@ -824,7 +837,7 @@ func TestServerSessionClose(t *testing.T) {
 	defer nconn.Close()
 	conn := conn.NewConn(nconn)
 
-	err = conn.WriteRequest(&base.Request{
+	res, err := writeReqReadRes(conn, base.Request{
 		Method: base.Setup,
 		URL:    mustParseURL("rtsp://localhost:8554/teststream/trackID=0"),
 		Header: base.Header{
@@ -844,8 +857,19 @@ func TestServerSessionClose(t *testing.T) {
 		},
 	})
 	require.NoError(t, err)
+	require.Equal(t, base.StatusOK, res.StatusCode)
 
-	<-sessionClosed
+	session.Close()
+	session.Close()
+
+	_, err = writeReqReadRes(conn, base.Request{
+		Method: base.Options,
+		URL:    mustParseURL("rtsp://localhost:8554/"),
+		Header: base.Header{
+			"CSeq": base.HeaderValue{"2"},
+		},
+	})
+	require.Error(t, err)
 }
 
 func TestServerSessionAutoClose(t *testing.T) {
@@ -855,13 +879,11 @@ func TestServerSessionAutoClose(t *testing.T) {
 		t.Run(ca, func(t *testing.T) {
 			sessionClosed := make(chan struct{})
 
-			track := &TrackH264{
+			stream := NewServerStream(Tracks{&TrackH264{
 				PayloadType: 96,
 				SPS:         []byte{0x01, 0x02, 0x03, 0x04},
 				PPS:         []byte{0x01, 0x02, 0x03, 0x04},
-			}
-
-			stream := NewServerStream(Tracks{track})
+			}})
 			defer stream.Close()
 
 			s := &Server{
@@ -920,6 +942,82 @@ func TestServerSessionAutoClose(t *testing.T) {
 	}
 }
 
+func TestServerSessionTeardown(t *testing.T) {
+	stream := NewServerStream(Tracks{&TrackH264{
+		PayloadType: 96,
+		SPS:         []byte{0x01, 0x02, 0x03, 0x04},
+		PPS:         []byte{0x01, 0x02, 0x03, 0x04},
+	}})
+	defer stream.Close()
+
+	s := &Server{
+		Handler: &testServerHandler{
+			onSetup: func(ctx *ServerHandlerOnSetupCtx) (*base.Response, *ServerStream, error) {
+				return &base.Response{
+					StatusCode: base.StatusOK,
+				}, stream, nil
+			},
+		},
+		RTSPAddress: "localhost:8554",
+	}
+
+	err := s.Start()
+	require.NoError(t, err)
+	defer s.Close()
+
+	nconn, err := net.Dial("tcp", "localhost:8554")
+	require.NoError(t, err)
+	defer nconn.Close()
+	conn := conn.NewConn(nconn)
+
+	res, err := writeReqReadRes(conn, base.Request{
+		Method: base.Setup,
+		URL:    mustParseURL("rtsp://localhost:8554/teststream/trackID=0"),
+		Header: base.Header{
+			"CSeq": base.HeaderValue{"1"},
+			"Transport": headers.Transport{
+				Protocol: headers.TransportProtocolTCP,
+				Delivery: func() *headers.TransportDelivery {
+					v := headers.TransportDeliveryUnicast
+					return &v
+				}(),
+				Mode: func() *headers.TransportMode {
+					v := headers.TransportModePlay
+					return &v
+				}(),
+				InterleavedIDs: &[2]int{0, 1},
+			}.Marshal(),
+		},
+	})
+	require.NoError(t, err)
+	require.Equal(t, base.StatusOK, res.StatusCode)
+
+	var sx headers.Session
+	err = sx.Unmarshal(res.Header["Session"])
+	require.NoError(t, err)
+
+	res, err = writeReqReadRes(conn, base.Request{
+		Method: base.Teardown,
+		URL:    mustParseURL("rtsp://localhost:8554/"),
+		Header: base.Header{
+			"CSeq":    base.HeaderValue{"2"},
+			"Session": base.HeaderValue{sx.Session},
+		},
+	})
+	require.NoError(t, err)
+	require.Equal(t, base.StatusOK, res.StatusCode)
+
+	res, err = writeReqReadRes(conn, base.Request{
+		Method: base.Options,
+		URL:    mustParseURL("rtsp://localhost:8554/"),
+		Header: base.Header{
+			"CSeq": base.HeaderValue{"3"},
+		},
+	})
+	require.NoError(t, err)
+	require.Equal(t, base.StatusOK, res.StatusCode)
+}
+
 func TestServerErrorInvalidPath(t *testing.T) {
 	for _, ca := range []string{"inside session", "outside session"} {
 		t.Run(ca, func(t *testing.T) {
diff --git a/serversession.go b/serversession.go
index b2b2b475..efb27299 100644
--- a/serversession.go
+++ b/serversession.go
@@ -310,13 +310,14 @@ func (ss *ServerSession) run() {
 		<-ss.writerDone
 	}
 
+	// close all associated connections, both UDP and TCP
+	// except for the ones that called TEARDOWN
+	// (that are detached from the session just after the request)
 	for sc := range ss.conns {
-		if sc == ss.tcpConn {
-			sc.Close()
+		sc.Close()
 
-			// make sure that OnFrame() is never called after OnSessionClose()
-			<-sc.done
-		}
+		// make sure that OnFrame() is never called after OnSessionClose()
+		<-sc.done
 
 		select {
 		case sc.sessionRemove <- ss:
@@ -379,6 +380,7 @@ func (ss *ServerSession) runInner() error {
 
 				// after a TEARDOWN, session must be unpaired with the connection
 				if req.req.Method == base.Teardown {
+					delete(ss.conns, req.sc)
 					returnedSession = nil
 				}
 			}