diff --git a/CHANGELOG.md b/CHANGELOG.md
index fcebeb16dac2..91b2677fb86c 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -72,6 +72,7 @@ BUG FIXES:
  * csi: Fixed a bug where `nomad volume detach` would not accept prefixes for the node ID parameter. [[GH-9041](https://github.com/hashicorp/nomad/issues/9041)]
  * csi: Fixed a bug where `nomad alloc status -verbose` would display an error when querying volumes. [[GH-9354](https://github.com/hashicorp/nomad/issues/9354)]
  * csi: Fixed a bug where queries for CSI plugins could be interleaved, resulting in inconsistent counts of plugins. [[GH-9438](https://github.com/hashicorp/nomad/issues/9438)]
+ * driver/docker: Fixed a bug where the Docker daemon could block longer than the `kill_timeout`. [[GH-9502](https://github.com/hashicorp/nomad/issues/9502)
  * driver/docker: Fixed a bug where the default `image_delay` configuration was ignored if the `gc` configuration was not set. [[GH-9101](https://github.com/hashicorp/nomad/issues/9101)]
  * driver/raw_exec: Fixed a bug where raw_exec attempts to create a freezer cgroups for the tasks even when `no_cgroups` is set. [[GH-9328](https://github.com/hashicorp/nomad/issues/9328)]
  * ui: Fixed a bug in the volume status page where read allocations and write allocations were not displayed. [[GH-9377](https://github.com/hashicorp/nomad/issues/9377)]
diff --git a/drivers/docker/driver.go b/drivers/docker/driver.go
index b5677911d9d1..d8222a087a3d 100644
--- a/drivers/docker/driver.go
+++ b/drivers/docker/driver.go
@@ -1461,7 +1461,10 @@ func (d *Driver) SignalTask(taskID string, signal string) error {
 		return fmt.Errorf("failed to parse signal: %v", err)
 	}
 
-	return h.Signal(sig)
+	// TODO: review whether we can timeout in this and other Docker API
+	// calls without breaking the expected client behavior.
+	// see https://github.com/hashicorp/nomad/issues/9503
+	return h.Signal(context.Background(), sig)
 }
 
 func (d *Driver) ExecTask(taskID string, cmd []string, timeout time.Duration) (*drivers.ExecTaskResult, error) {
diff --git a/drivers/docker/handle.go b/drivers/docker/handle.go
index 3e1854a76572..6a75603f79f6 100644
--- a/drivers/docker/handle.go
+++ b/drivers/docker/handle.go
@@ -103,7 +103,7 @@ func (h *taskHandle) Exec(ctx context.Context, cmd string, args []string) (*driv
 	return execResult, nil
 }
 
-func (h *taskHandle) Signal(s os.Signal) error {
+func (h *taskHandle) Signal(ctx context.Context, s os.Signal) error {
 	// Convert types
 	sysSig, ok := s.(syscall.Signal)
 	if !ok {
@@ -116,8 +116,9 @@ func (h *taskHandle) Signal(s os.Signal) error {
 
 	dockerSignal := docker.Signal(sysSig)
 	opts := docker.KillContainerOptions{
-		ID:     h.containerID,
-		Signal: dockerSignal,
+		ID:      h.containerID,
+		Signal:  dockerSignal,
+		Context: ctx,
 	}
 	return h.client.KillContainer(opts)
 
@@ -127,7 +128,10 @@ func (h *taskHandle) Signal(s os.Signal) error {
 func (h *taskHandle) Kill(killTimeout time.Duration, signal os.Signal) error {
 	// Only send signal if killTimeout is set, otherwise stop container
 	if killTimeout > 0 {
-		if err := h.Signal(signal); err != nil {
+		ctx, cancel := context.WithTimeout(context.Background(), killTimeout)
+		defer cancel()
+
+		if err := h.Signal(ctx, signal); err != nil {
 			// Container has already been removed.
 			if strings.Contains(err.Error(), NoSuchContainerError) {
 				h.logger.Debug("attempted to signal nonexistent container")
@@ -146,7 +150,7 @@ func (h *taskHandle) Kill(killTimeout time.Duration, signal os.Signal) error {
 		select {
 		case <-h.waitCh:
 			return nil
-		case <-time.After(killTimeout):
+		case <-ctx.Done():
 		}
 	}