diff --git a/src/jtag/drivers/cmsis_dap.c b/src/jtag/drivers/cmsis_dap.c
index bc86eb46a..5d060bdad 100644
--- a/src/jtag/drivers/cmsis_dap.c
+++ b/src/jtag/drivers/cmsis_dap.c
@@ -365,6 +365,7 @@ static int cmsis_dap_xfer(struct cmsis_dap *dap, int txlen)
 		LOG_ERROR("CMSIS-DAP command mismatch. Sent 0x%" PRIx8
 			 " received 0x%" PRIx8, current_cmd, resp[0]);
 
+		dap->backend->cancel_all(dap);
 		cmsis_dap_flush_read(dap);
 		return ERROR_FAIL;
 	}
@@ -758,7 +759,6 @@ static int cmsis_dap_cmd_dap_swo_data(
 	return ERROR_OK;
 }
 
-
 static void cmsis_dap_swd_discard_all_pending(struct cmsis_dap *dap)
 {
 	for (unsigned int i = 0; i < MAX_PENDING_REQUESTS; i++)
@@ -769,6 +769,13 @@ static void cmsis_dap_swd_discard_all_pending(struct cmsis_dap *dap)
 	dap->pending_fifo_block_count = 0;
 }
 
+static void cmsis_dap_swd_cancel_transfers(struct cmsis_dap *dap)
+{
+	dap->backend->cancel_all(dap);
+	cmsis_dap_flush_read(dap);
+	cmsis_dap_swd_discard_all_pending(dap);
+}
+
 static void cmsis_dap_swd_write_from_queue(struct cmsis_dap *dap)
 {
 	uint8_t *command = dap->command;
@@ -913,8 +920,9 @@ static void cmsis_dap_swd_read_process(struct cmsis_dap *dap, enum cmsis_dap_blo
 	if (resp[0] != block->command) {
 		LOG_ERROR("CMSIS-DAP command mismatch. Expected 0x%x received 0x%" PRIx8,
 			block->command, resp[0]);
+		cmsis_dap_swd_cancel_transfers(dap);
 		queued_retval = ERROR_FAIL;
-		goto skip;
+		return;
 	}
 
 	unsigned int transfer_count;
@@ -940,9 +948,13 @@ static void cmsis_dap_swd_read_process(struct cmsis_dap *dap, enum cmsis_dap_blo
 		goto skip;
 	}
 
-	if (block->transfer_count != transfer_count)
+	if (block->transfer_count != transfer_count) {
 		LOG_ERROR("CMSIS-DAP transfer count mismatch: expected %d, got %d",
 			  block->transfer_count, transfer_count);
+		cmsis_dap_swd_cancel_transfers(dap);
+		queued_retval = ERROR_FAIL;
+		return;
+	}
 
 	LOG_DEBUG_IO("Received results of %d queued transactions FIFO index %u, %s mode",
 				 transfer_count, dap->pending_fifo_get_idx,
diff --git a/src/jtag/drivers/cmsis_dap.h b/src/jtag/drivers/cmsis_dap.h
index 187aeb54d..817636f34 100644
--- a/src/jtag/drivers/cmsis_dap.h
+++ b/src/jtag/drivers/cmsis_dap.h
@@ -66,6 +66,7 @@ struct cmsis_dap_backend {
 	int (*write)(struct cmsis_dap *dap, int len, int timeout_ms);
 	int (*packet_buffer_alloc)(struct cmsis_dap *dap, unsigned int pkt_sz);
 	void (*packet_buffer_free)(struct cmsis_dap *dap);
+	void (*cancel_all)(struct cmsis_dap *dap);
 };
 
 extern const struct cmsis_dap_backend cmsis_dap_hid_backend;
diff --git a/src/jtag/drivers/cmsis_dap_usb_bulk.c b/src/jtag/drivers/cmsis_dap_usb_bulk.c
index aaab5804d..17e490f05 100644
--- a/src/jtag/drivers/cmsis_dap_usb_bulk.c
+++ b/src/jtag/drivers/cmsis_dap_usb_bulk.c
@@ -634,6 +634,19 @@ static void cmsis_dap_usb_free(struct cmsis_dap *dap)
 	dap->response = NULL;
 }
 
+static void cmsis_dap_usb_cancel_all(struct cmsis_dap *dap)
+{
+	for (unsigned int i = 0; i < MAX_PENDING_REQUESTS; i++) {
+		if (dap->bdata->command_transfers[i].status == CMSIS_DAP_TRANSFER_PENDING)
+			libusb_cancel_transfer(dap->bdata->command_transfers[i].transfer);
+		if (dap->bdata->response_transfers[i].status == CMSIS_DAP_TRANSFER_PENDING)
+			libusb_cancel_transfer(dap->bdata->response_transfers[i].transfer);
+
+		dap->bdata->command_transfers[i].status = CMSIS_DAP_TRANSFER_IDLE;
+		dap->bdata->response_transfers[i].status = CMSIS_DAP_TRANSFER_IDLE;
+	}
+}
+
 COMMAND_HANDLER(cmsis_dap_handle_usb_interface_command)
 {
 	if (CMD_ARGC == 1)
@@ -663,4 +676,5 @@ const struct cmsis_dap_backend cmsis_dap_usb_backend = {
 	.write = cmsis_dap_usb_write,
 	.packet_buffer_alloc = cmsis_dap_usb_alloc,
 	.packet_buffer_free = cmsis_dap_usb_free,
+	.cancel_all = cmsis_dap_usb_cancel_all,
 };
diff --git a/src/jtag/drivers/cmsis_dap_usb_hid.c b/src/jtag/drivers/cmsis_dap_usb_hid.c
index 6338886c8..1decc7156 100644
--- a/src/jtag/drivers/cmsis_dap_usb_hid.c
+++ b/src/jtag/drivers/cmsis_dap_usb_hid.c
@@ -236,6 +236,10 @@ static void cmsis_dap_hid_free(struct cmsis_dap *dap)
 	dap->packet_buffer = NULL;
 }
 
+static void cmsis_dap_hid_cancel_all(struct cmsis_dap *dap)
+{
+}
+
 const struct cmsis_dap_backend cmsis_dap_hid_backend = {
 	.name = "hid",
 	.open = cmsis_dap_hid_open,
@@ -244,4 +248,5 @@ const struct cmsis_dap_backend cmsis_dap_hid_backend = {
 	.write = cmsis_dap_hid_write,
 	.packet_buffer_alloc = cmsis_dap_hid_alloc,
 	.packet_buffer_free = cmsis_dap_hid_free,
+	.cancel_all = cmsis_dap_hid_cancel_all,
 };