diff --git a/src/cdk/menu/menu-aim.ts b/src/cdk/menu/menu-aim.ts
index 7e04e120cda6..276a8b568990 100644
--- a/src/cdk/menu/menu-aim.ts
+++ b/src/cdk/menu/menu-aim.ts
@@ -130,6 +130,12 @@ export class TargetMenuAim implements MenuAim, OnDestroy {
 
   ngOnDestroy() {
     this._cleanupMousemove?.();
+
+    if (this._timeoutId !== null) {
+      clearTimeout(this._timeoutId);
+      this._timeoutId = null;
+    }
+
     this._destroyed.next();
     this._destroyed.complete();
   }
diff --git a/src/cdk/menu/menu.spec.ts b/src/cdk/menu/menu.spec.ts
index 8bfd26e24c95..8e7cd6c8c787 100644
--- a/src/cdk/menu/menu.spec.ts
+++ b/src/cdk/menu/menu.spec.ts
@@ -80,12 +80,6 @@ describe('Menu', () => {
   });
 
   describe('menu aim', () => {
-    // TODO(crisbeto): update the component to clear timeouts on destroy.
-    // Give some time for timeouts to be cleaned up.
-    afterEach(async () => {
-      await wait(350);
-    });
-
     /** A coordinate in the browser window */
     type Point = {x: number; y: number};
 
@@ -276,6 +270,33 @@ describe('Menu', () => {
         expect(nativeMenus[1].id).toBe('share_menu');
       });
 
+      it('should not toggle a menu if the menu aim is destroyed while waiting', async () => {
+        openFileMenu();
+        openMenuOnHover(nativeEditTrigger!);
+        const editPosition = nativeEditTrigger!.getBoundingClientRect();
+        const sharePosition = nativeShareTrigger!.getBoundingClientRect();
+
+        // Move towards the edit submenu and stop on the share trigger so that
+        // the menu aim delays opening the share menu.
+        await hover(
+          {
+            x: editPosition.x + editPosition.width / 2,
+            y: editPosition.y + editPosition.height - 10,
+          },
+          {
+            x: sharePosition.x + sharePosition.width - 10,
+            y: sharePosition.y + sharePosition.height - 10,
+          },
+          nativeMenus[0],
+          0,
+        );
+
+        fixture.destroy();
+        await wait(350);
+
+        expect(document.querySelector('#share_menu')).toBeNull();
+      });
+
       it('should not close the edit submenu when hovering into its items in time', async () => {
         openFileMenu();
         openMenuOnHover(nativeEditTrigger!);