diff --git a/CHANGELOG.md b/CHANGELOG.md
index 2a5f7dbc..05df9c69 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,5 +1,6 @@
 ## Unreleased: mitmproxy_rs next
 
+- `Stream.wait_closed()` now waits for outgoing UDP client tasks to finish.
 - Preserve OS error details when UDP and WireGuard servers fail to start.
 - `Stream.is_closing()` now returns `True` once the server or UDP client task has shut down.
 
diff --git a/mitmproxy-rs/src/stream.rs b/mitmproxy-rs/src/stream.rs
index cfe32efe..eff3c837 100644
--- a/mitmproxy-rs/src/stream.rs
+++ b/mitmproxy-rs/src/stream.rs
@@ -6,6 +6,7 @@ use pyo3::{IntoPyObjectExt, exceptions::PyOSError, intern, prelude::*};
 use tokio::sync::{
     mpsc::{self},
     oneshot::{self},
+    watch,
 };
 
 use mitmproxy::messages::{ConnectionId, TransportCommand, TunnelInfo};
@@ -31,6 +32,8 @@ pub struct Stream {
     pub peername: SocketAddr,
     pub sockname: SocketAddr,
     pub tunnel_info: TunnelInfo,
+    /// For UDP client streams, closed when the underlying task has finished.
+    pub task_done: Option<watch::Receiver<()>>,
 }
 
 #[pymethods]
@@ -135,9 +138,17 @@ impl Stream {
         }
     }
 
-    /// Wait until the stream is closed (currently a no-op).
+    /// Wait until the stream is closed.
+    /// For UDP client streams, this waits for the underlying task to finish.
     fn wait_closed<'py>(&self, py: Python<'py>) -> PyResult<Bound<'py, PyAny>> {
-        pyo3_async_runtimes::tokio::future_into_py(py, std::future::ready(Ok(())))
+        let task_done = self.task_done.clone();
+        pyo3_async_runtimes::tokio::future_into_py(py, async move {
+            if let Some(mut task_done) = task_done {
+                // Errors once the sender is dropped by the finished task.
+                task_done.changed().await.ok();
+            }
+            Ok(())
+        })
     }
 
     /// Query the stream for details of the underlying network connection.
@@ -211,6 +222,45 @@ impl Drop for Stream {
 #[cfg(test)]
 mod tests {
     use super::*;
+    use std::time::Duration;
+
+    #[test]
+    fn wait_closed_waits_for_udp_task() -> PyResult<()> {
+        Python::initialize();
+        Python::attach(|py| {
+            pyo3_async_runtimes::tokio::run(py, async {
+                let (command_tx, _command_rx) = mpsc::unbounded_channel();
+                let (task_done_tx, task_done) = watch::channel(());
+                let stream = Stream {
+                    connection_id: ConnectionId::unassigned_udp(),
+                    state: StreamState::Closed,
+                    command_tx,
+                    peername: "127.0.0.1:1234".parse()?,
+                    sockname: "127.0.0.1:4321".parse()?,
+                    tunnel_info: TunnelInfo::None,
+                    task_done: Some(task_done),
+                };
+                let wait_closed = Python::attach(|py| {
+                    let stream = Py::new(py, stream)?;
+                    pyo3_async_runtimes::tokio::into_future(
+                        stream.bind(py).call_method0("wait_closed")?,
+                    )
+                })?;
+                tokio::pin!(wait_closed);
+                assert!(
+                    tokio::time::timeout(Duration::from_millis(20), &mut wait_closed)
+                        .await
+                        .is_err(),
+                    "wait_closed returned before the task finished"
+                );
+                drop(task_done_tx);
+                tokio::time::timeout(Duration::from_secs(1), wait_closed)
+                    .await
+                    .expect("wait_closed did not return after the task finished")?;
+                Ok(())
+            })
+        })
+    }
 
     #[test]
     fn is_closing_when_server_shut_down() {
@@ -222,6 +272,7 @@ mod tests {
             peername: "127.0.0.1:1234".parse().unwrap(),
             sockname: "127.0.0.1:4321".parse().unwrap(),
             tunnel_info: TunnelInfo::None,
+            task_done: None,
         };
         assert!(!stream.is_closing());
         drop(command_rx);
diff --git a/mitmproxy-rs/src/task.rs b/mitmproxy-rs/src/task.rs
index ddf95bde..ae4bb5b5 100644
--- a/mitmproxy-rs/src/task.rs
+++ b/mitmproxy-rs/src/task.rs
@@ -78,6 +78,7 @@ impl PyInteropTask {
                                 peername: src_addr,
                                 sockname: dst_addr,
                                 tunnel_info,
+                                task_done: None,
                             };
 
                             let mut conns = active_streams.lock().await;
diff --git a/mitmproxy-rs/src/udp_client.rs b/mitmproxy-rs/src/udp_client.rs
index 6c04e35d..0e25987f 100644
--- a/mitmproxy-rs/src/udp_client.rs
+++ b/mitmproxy-rs/src/udp_client.rs
@@ -5,7 +5,7 @@ use anyhow::{Result, anyhow};
 use pyo3::prelude::*;
 use tokio::net::{UdpSocket, lookup_host};
 use tokio::sync::mpsc::{UnboundedReceiver, unbounded_channel};
-use tokio::sync::oneshot;
+use tokio::sync::{oneshot, watch};
 
 use crate::stream::{Stream, StreamState};
 use mitmproxy::MAX_PACKET_SIZE;
@@ -32,8 +32,9 @@ pub fn open_udp_connection(
         let sockname = socket.local_addr()?;
 
         let (command_tx, command_rx) = unbounded_channel();
+        let (task_done_tx, task_done) = watch::channel(());
 
-        tokio::spawn(async {
+        tokio::spawn(async move {
             let task = UdpClientTask {
                 socket,
                 transport_commands_rx: command_rx,
@@ -41,6 +42,7 @@ pub fn open_udp_connection(
             if let Err(e) = task.run().await {
                 log::error!("UDP client errored: {e}");
             }
+            drop(task_done_tx);
         });
 
         let stream = Stream {
@@ -50,6 +52,7 @@ pub fn open_udp_connection(
             peername,
             sockname,
             tunnel_info: TunnelInfo::None,
+            task_done: Some(task_done),
         };
 
         Ok(stream)