diff --git a/hal/src/main/java/edu/wpi/first/hal/HAL.java b/hal/src/main/java/edu/wpi/first/hal/HAL.java
index c132a58e45..ca1e90c2d0 100644
--- a/hal/src/main/java/edu/wpi/first/hal/HAL.java
+++ b/hal/src/main/java/edu/wpi/first/hal/HAL.java
@@ -18,6 +18,8 @@ public final class HAL extends JNIWrapper {
 
   public static native boolean initialize(int timeout, int mode);
 
+  public static native void shutdown();
+
   public static native boolean hasMain();
 
   public static native void runMain();
diff --git a/hal/src/main/native/athena/HAL.cpp b/hal/src/main/native/athena/HAL.cpp
index 7e41b3f751..17ef0b9cb2 100644
--- a/hal/src/main/native/athena/HAL.cpp
+++ b/hal/src/main/native/athena/HAL.cpp
@@ -420,6 +420,8 @@ HAL_Bool HAL_Initialize(int32_t timeout, int32_t mode) {
   return true;
 }
 
+void HAL_Shutdown(void) {}
+
 int64_t HAL_Report(int32_t resource, int32_t instanceNumber, int32_t context,
                    const char* feature) {
   if (feature == nullptr) {
diff --git a/hal/src/main/native/cpp/jni/HAL.cpp b/hal/src/main/native/cpp/jni/HAL.cpp
index 421dc38b59..3d736bfcbe 100644
--- a/hal/src/main/native/cpp/jni/HAL.cpp
+++ b/hal/src/main/native/cpp/jni/HAL.cpp
@@ -36,6 +36,18 @@ Java_edu_wpi_first_hal_HAL_initialize
   return HAL_Initialize(timeout, mode);
 }
 
+/*
+ * Class:     edu_wpi_first_hal_HAL
+ * Method:    shutdown
+ * Signature: ()V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_HAL_shutdown
+  (JNIEnv*, jclass)
+{
+  return HAL_Shutdown();
+}
+
 /*
  * Class:     edu_wpi_first_hal_HAL
  * Method:    hasMain
diff --git a/hal/src/main/native/include/hal/Extensions.h b/hal/src/main/native/include/hal/Extensions.h
index aa1b44cf51..13de7f87f3 100644
--- a/hal/src/main/native/include/hal/Extensions.h
+++ b/hal/src/main/native/include/hal/Extensions.h
@@ -25,7 +25,10 @@
  */
 typedef int halsim_extension_init_func_t(void);
 
+#ifdef __cplusplus
 extern "C" {
+#endif
+
 /**
  * Loads a single extension from a direct path.
  *
@@ -82,5 +85,17 @@ void HAL_RegisterExtensionListener(void* param,
  * @param showMessage true to show message, false to not.
  */
 void HAL_SetShowExtensionsNotFoundMessages(HAL_Bool showMessage);
+
+/**
+ * Registers a function to be called from HAL_Shutdown(). This is intended
+ * for use only by simulation extensions.
+ *
+ * @param param parameter data to pass to callback function
+ * @param func callback function
+ */
+void HAL_OnShutdown(void* param, void (*func)(void*));
+
+#ifdef __cplusplus
 }  // extern "C"
+#endif
 /** @} */
diff --git a/hal/src/main/native/include/hal/HALBase.h b/hal/src/main/native/include/hal/HALBase.h
index 308788e1cc..ee5b054788 100644
--- a/hal/src/main/native/include/hal/HALBase.h
+++ b/hal/src/main/native/include/hal/HALBase.h
@@ -149,6 +149,14 @@ uint64_t HAL_ExpandFPGATime(uint32_t unexpanded_lower, int32_t* status);
  */
 HAL_Bool HAL_Initialize(int32_t timeout, int32_t mode);
 
+/**
+ * Call this to shut down HAL.
+ *
+ * This must be called at termination of the robot program to avoid potential
+ * segmentation faults with simulation extensions at exit.
+ */
+void HAL_Shutdown(void);
+
 #ifdef __cplusplus
 }  // extern "C"
 #endif
diff --git a/hal/src/main/native/sim/HAL.cpp b/hal/src/main/native/sim/HAL.cpp
index 92b19d3e81..64c4a1090d 100644
--- a/hal/src/main/native/sim/HAL.cpp
+++ b/hal/src/main/native/sim/HAL.cpp
@@ -7,8 +7,11 @@
 
 #include "hal/HAL.h"
 
+#include <vector>
+
 #include <wpi/mutex.h>
 #include <wpi/raw_ostream.h>
+#include <wpi/spinlock.h>
 
 #ifdef _WIN32
 #include <Windows.h>
@@ -28,6 +31,8 @@
 using namespace hal;
 
 static HAL_RuntimeType runtimeType{HAL_Mock};
+static wpi::spinlock gOnShutdownMutex;
+static std::vector<std::pair<void*, void (*)(void*)>> gOnShutdown;
 
 namespace hal {
 namespace init {
@@ -312,6 +317,22 @@ HAL_Bool HAL_Initialize(int32_t timeout, int32_t mode) {
   return true;  // Add initialization if we need to at a later point
 }
 
+void HAL_Shutdown(void) {
+  std::vector<std::pair<void*, void (*)(void*)>> funcs;
+  {
+    std::scoped_lock lock(gOnShutdownMutex);
+    funcs.swap(gOnShutdown);
+  }
+  for (auto&& func : funcs) {
+    func.second(func.first);
+  }
+}
+
+void HAL_OnShutdown(void* param, void (*func)(void*)) {
+  std::scoped_lock lock(gOnShutdownMutex);
+  gOnShutdown.emplace_back(param, func);
+}
+
 int64_t HAL_Report(int32_t resource, int32_t instanceNumber, int32_t context,
                    const char* feature) {
   return 0;  // Do nothing for now
diff --git a/wpilibc/src/main/native/include/frc/RobotBase.h b/wpilibc/src/main/native/include/frc/RobotBase.h
index a005dd80ef..4139b03655 100644
--- a/wpilibc/src/main/native/include/frc/RobotBase.h
+++ b/wpilibc/src/main/native/include/frc/RobotBase.h
@@ -10,6 +10,7 @@
 #include <chrono>
 #include <thread>
 
+#include <hal/HALBase.h>
 #include <hal/Main.h>
 #include <wpi/condition_variable.h>
 #include <wpi/mutex.h>
@@ -89,6 +90,8 @@ int StartRobot() {
     impl::RunRobot<Robot>(m, &robot);
   }
 
+  HAL_Shutdown();
+
   return 0;
 }
 
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotBase.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotBase.java
index 922377dc8c..9c3e45f3e2 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotBase.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotBase.java
@@ -419,6 +419,8 @@ public abstract class RobotBase implements AutoCloseable {
       runRobot(robotSupplier);
     }
 
+    HAL.shutdown();
+
     System.exit(0);
   }
 }