diff --git a/cyber/timer/timer.h b/cyber/timer/timer.h
index 99d6cd74b1c..54dc2e18b7c 100644
--- a/cyber/timer/timer.h
+++ b/cyber/timer/timer.h
@@ -25,6 +25,10 @@
 namespace apollo {
 namespace cyber {
 
+namespace timer {
+class TimerConcurrencyTest;
+}  // namespace timer
+
 /**
  * @brief The options of timer
  *
@@ -110,6 +114,8 @@ class Timer {
   void Stop();
 
  private:
+  friend class timer::TimerConcurrencyTest;
+
   bool InitTimerTask();
   uint64_t timer_id_;
   TimerOption timer_opt_;
diff --git a/cyber/timer/timer_test.cc b/cyber/timer/timer_test.cc
index 8eb6f93be9a..fa1ae8e332b 100644
--- a/cyber/timer/timer_test.cc
+++ b/cyber/timer/timer_test.cc
@@ -18,14 +18,21 @@
 
 #include "cyber/timer/timer.h"
 
+#include <atomic>
+#include <chrono>
+#include <cstdint>
+#include <future>
 #include <memory>
+#include <thread>
 #include <utility>
+#include <vector>
 
 #include "gtest/gtest.h"
 
 #include "cyber/common/util.h"
 #include "cyber/cyber.h"
 #include "cyber/init.h"
+#include "cyber/scheduler/scheduler_factory.h"
 
 namespace apollo {
 namespace cyber {
@@ -34,6 +41,138 @@ namespace timer {
 using cyber::Timer;
 using cyber::TimerOption;
 
+namespace {
+
+bool WaitForCount(const std::atomic<uint32_t>& count, uint32_t expected) {
+  const auto deadline =
+      std::chrono::steady_clock::now() + std::chrono::seconds(5);
+  while (std::chrono::steady_clock::now() < deadline) {
+    if (count.load() == expected) {
+      return true;
+    }
+    std::this_thread::sleep_for(std::chrono::milliseconds(1));
+  }
+  return count.load() == expected;
+}
+
+}  // namespace
+
+class TimerConcurrencyTest : public testing::Test {
+ protected:
+  void SetUp() override {
+    timing_wheel_ = TimingWheel::Instance();
+    timing_wheel_->Shutdown();
+    ASSERT_FALSE(timing_wheel_->tick_thread_.joinable());
+    timing_wheel_->running_ = true;
+  }
+
+  void TearDown() override { timing_wheel_->Shutdown(); }
+
+  bool InitializeTimer(Timer* timer) {
+    if (!timer->InitTimerTask()) {
+      return false;
+    }
+    timer->started_.store(true);
+    return true;
+  }
+
+  std::weak_ptr<TimerTask> QueueTimerCallback(Timer* timer) {
+    auto task = timer->task_;
+    auto& bucket =
+        timing_wheel_->work_wheel_[timing_wheel_->current_work_wheel_index_];
+    bucket.AddTask(task);
+    timing_wheel_->Tick();
+    return task;
+  }
+
+ private:
+  TimingWheel* timing_wheel_ = nullptr;
+};
+
+TEST_F(TimerConcurrencyTest, stop_before_queued_callback_runs) {
+  const uint32_t task_pool_size = scheduler::Instance()->TaskPoolSize();
+  ASSERT_GT(task_pool_size, 0);
+
+  std::atomic<uint32_t> callback_count{0};
+  auto callback_state = std::make_shared<int>(0);
+  std::weak_ptr<int> callback_lifetime = callback_state;
+  auto timer = std::make_unique<Timer>(
+      TIMER_RESOLUTION_MS,
+      [callback_state, &callback_count] {
+        ++(*callback_state);
+        callback_count.fetch_add(1);
+      },
+      true);
+  callback_state.reset();
+  ASSERT_TRUE(InitializeTimer(timer.get()));
+
+  // Occupy every TaskManager consumer so Tick() can only queue the callback.
+  std::promise<void> release_blockers_promise;
+  auto release_blockers = release_blockers_promise.get_future().share();
+  std::atomic<uint32_t> blockers_started{0};
+  std::vector<std::future<void>> blockers;
+  blockers.reserve(task_pool_size);
+  for (uint32_t i = 0; i < task_pool_size; ++i) {
+    blockers.emplace_back(Async([&blockers_started, release_blockers] {
+      blockers_started.fetch_add(1);
+      release_blockers.wait();
+    }));
+  }
+
+  if (!WaitForCount(blockers_started, task_pool_size)) {
+    release_blockers_promise.set_value();
+    for (auto& blocker : blockers) {
+      blocker.wait();
+    }
+    FAIL() << "Failed to occupy the task pool";
+    return;
+  }
+
+  auto task_lifetime = QueueTimerCallback(timer.get());
+  timer->Stop();
+  timer.reset();
+  // Queued work must not retain the stopped task or callback-owned state.
+  EXPECT_TRUE(task_lifetime.expired());
+  EXPECT_TRUE(callback_lifetime.expired());
+
+  // A full second wave is a queue drain fence: its last task cannot start
+  // until the earlier timer callback has finished.
+  std::promise<void> release_drains_promise;
+  auto release_drains = release_drains_promise.get_future().share();
+  std::atomic<uint32_t> drains_started{0};
+  std::vector<std::future<void>> drains;
+  drains.reserve(task_pool_size);
+  for (uint32_t i = 0; i < task_pool_size; ++i) {
+    drains.emplace_back(Async([&drains_started, release_drains] {
+      drains_started.fetch_add(1);
+      release_drains.wait();
+    }));
+  }
+
+  release_blockers_promise.set_value();
+  if (!WaitForCount(drains_started, task_pool_size)) {
+    release_drains_promise.set_value();
+    for (auto& blocker : blockers) {
+      blocker.wait();
+    }
+    for (auto& drain : drains) {
+      drain.wait();
+    }
+    FAIL() << "Failed to drain the queued timer callback";
+    return;
+  }
+
+  release_drains_promise.set_value();
+  for (auto& blocker : blockers) {
+    blocker.get();
+  }
+  for (auto& drain : drains) {
+    drain.get();
+  }
+
+  EXPECT_EQ(callback_count.load(), 0);
+}
+
 TEST(TimerTest, one_shot) {
   int count = 0;
   Timer timer(
@@ -79,6 +218,23 @@ TEST(TimerTest, start_stop) {
   }
 }
 
+TEST(TimerTest, periodic_callback_preserves_state) {
+  std::promise<void> second_fire_promise;
+  auto second_fire = second_fire_promise.get_future();
+  Timer timer(
+      TIMER_RESOLUTION_MS,
+      [count = 0, &second_fire_promise]() mutable {
+        if (++count == 2) {
+          second_fire_promise.set_value();
+        }
+      },
+      false);
+  timer.Start();
+  EXPECT_EQ(second_fire.wait_for(std::chrono::seconds(1)),
+            std::future_status::ready);
+  timer.Stop();
+}
+
 TEST(TimerTest, sim_mode) {
   auto count = 0;
 
diff --git a/cyber/timer/timing_wheel.cc b/cyber/timer/timing_wheel.cc
index 179e8c739de..5ac868dd60f 100644
--- a/cyber/timer/timing_wheel.cc
+++ b/cyber/timer/timing_wheel.cc
@@ -53,11 +53,13 @@ void TimingWheel::Tick() {
       if (task) {
         ADEBUG << "index: " << current_work_wheel_index_
                << " timer id: " << task->timer_id_;
-        auto* callback =
-            reinterpret_cast<std::function<void()>*>(&(task->callback));
-        cyber::Async([this, callback] {
+        std::weak_ptr<TimerTask> task_weak_ptr = task;
+        cyber::Async([this, task_weak_ptr] {
           if (this->running_) {
-            (*callback)();
+            auto task = task_weak_ptr.lock();
+            if (task) {
+              task->callback();
+            }
           }
         });
       }
diff --git a/cyber/timer/timing_wheel.h b/cyber/timer/timing_wheel.h
index 92dde7c4cbf..ab3af768201 100644
--- a/cyber/timer/timing_wheel.h
+++ b/cyber/timer/timing_wheel.h
@@ -31,6 +31,10 @@
 namespace apollo {
 namespace cyber {
 
+namespace timer {
+class TimerConcurrencyTest;
+}  // namespace timer
+
 struct TimerTask;
 
 static const uint64_t WORK_WHEEL_SIZE = 512;
@@ -65,6 +69,8 @@ class TimingWheel {
   inline uint64_t TickCount() const { return tick_count_; }
 
  private:
+  friend class timer::TimerConcurrencyTest;
+
   inline uint64_t GetWorkWheelIndex(const uint64_t index) {
     return index & (WORK_WHEEL_SIZE - 1);
   }