diff --git a/arch/arm/src/stm32/stm32_pwm.c b/arch/arm/src/stm32/stm32_pwm.c
index df937654cd..8e69373cc5 100644
--- a/arch/arm/src/stm32/stm32_pwm.c
+++ b/arch/arm/src/stm32/stm32_pwm.c
@@ -4463,6 +4463,13 @@ static int pwm_stop(struct pwm_lowerhalf_s *dev)
   outputs = pwm_outputs_from_channels(priv);
   ret = pwm_outputs_enable(dev, outputs, false);
 
+  /* Clear all channels */
+
+  pwm_putreg(priv, STM32_GTIM_CCR1_OFFSET, 0);
+  pwm_putreg(priv, STM32_GTIM_CCR2_OFFSET, 0);
+  pwm_putreg(priv, STM32_GTIM_CCR3_OFFSET, 0);
+  pwm_putreg(priv, STM32_GTIM_CCR4_OFFSET, 0);
+
   leave_critical_section(flags);
 
   pwm_dumpregs(dev, "After stop");