diff --git a/docs/changelog/828.bugfix.rst b/docs/changelog/828.bugfix.rst
new file mode 100644
index 00000000..34244e93
--- /dev/null
+++ b/docs/changelog/828.bugfix.rst
@@ -0,0 +1,2 @@
+Fix a forked child hanging at exit on PyPy when the parent forked while an
+:class:`~filelock.AsyncReadWriteLock` worker thread was between two operations.
diff --git a/src/filelock/_async_read_write.py b/src/filelock/_async_read_write.py
index 5806cd1d..6cb9ab1c 100644
--- a/src/filelock/_async_read_write.py
+++ b/src/filelock/_async_read_write.py
@@ -8,6 +8,7 @@
 import sqlite3
 import threading
 from concurrent.futures import ThreadPoolExecutor
+from concurrent.futures import thread as executor_threads
 from contextlib import asynccontextmanager
 from typing import TYPE_CHECKING, Literal, ParamSpec, TypeVar, cast
 
@@ -29,7 +30,7 @@
 from ._read_write import ReadWriteLock
 
 if TYPE_CHECKING:
-    from collections.abc import AsyncGenerator, Callable
+    from collections.abc import AsyncGenerator, Callable, MutableMapping
     from concurrent import futures
     from types import TracebackType
 
@@ -326,6 +327,17 @@ def _raise_if_unusable(self) -> None:
 
     def _reset_after_fork_in_child(self) -> None:  # pragma: forked child
         self._fork_invalidated = True
+        if self._owns_executor:
+            # The worker did not survive the fork, yet before 3.12 the child's exit still wakes it through its queue. On
+            # PyPy that queue is pure Python, and its lock may have been held by the worker at fork time, so exit hangs.
+            # CPython 3.12+ forgets every inherited worker in the child; do the same for the one this lock owns.
+            # typeshed declares the registry read-only; it is a WeakKeyDictionary the exit hook iterates.
+            registry = cast(
+                "MutableMapping[threading.Thread, object]",
+                executor_threads._threads_queues,  # ruff:ignore[private-member-access]  # the exit hook's registry
+            )
+            for worker in cast("ThreadPoolExecutor", self._executor)._threads:  # ruff:ignore[private-member-access]  # only the executor lists its workers
+                registry.pop(worker, None)
 
     def __del__(self) -> None:
         # Safety net when close() was never called: shut down the executor we own so its worker thread does not