diff --git a/src/cmap/connection.ts b/src/cmap/connection.ts
index c35f5e5391..af585e3535 100644
--- a/src/cmap/connection.ts
+++ b/src/cmap/connection.ts
@@ -154,8 +154,8 @@ export class Connection extends TypedEventEmitter<ConnectionEvents> {
   address: string;
   socketTimeoutMS: number;
   monitorCommands: boolean;
+  /** Indicates that the connection (including underlying TCP socket) has been closed. */
   closed: boolean;
-  destroyed: boolean;
   lastHelloMS?: number;
   serverApi?: ServerApi;
   helloOk?: boolean;
@@ -204,7 +204,6 @@ export class Connection extends TypedEventEmitter<ConnectionEvents> {
     this.monitorCommands = options.monitorCommands;
     this.serverApi = options.serverApi;
     this.closed = false;
-    this.destroyed = false;
     this[kHello] = null;
     this[kClusterTime] = null;
 
@@ -297,10 +296,7 @@ export class Connection extends TypedEventEmitter<ConnectionEvents> {
     if (this.closed) {
       return;
     }
-
-    this[kStream].destroy(error);
-
-    this.closed = true;
+    this.destroy({ force: false });
 
     for (const op of this[kQueue].values()) {
       op.cb(error);
@@ -314,8 +310,7 @@ export class Connection extends TypedEventEmitter<ConnectionEvents> {
     if (this.closed) {
       return;
     }
-
-    this.closed = true;
+    this.destroy({ force: false });
 
     const message = `connection ${this.id} to ${this.address} closed`;
     for (const op of this[kQueue].values()) {
@@ -332,9 +327,7 @@ export class Connection extends TypedEventEmitter<ConnectionEvents> {
     }
 
     this[kDelayedTimeoutId] = setTimeout(() => {
-      this[kStream].destroy();
-
-      this.closed = true;
+      this.destroy({ force: false });
 
       const message = `connection ${this.id} to ${this.address} timed out`;
       const beforeHandshake = this.hello == null;
@@ -447,31 +440,23 @@ export class Connection extends TypedEventEmitter<ConnectionEvents> {
     this.removeAllListeners(Connection.PINNED);
     this.removeAllListeners(Connection.UNPINNED);
 
-    if (this[kStream] == null || this.destroyed) {
-      this.destroyed = true;
-      if (typeof callback === 'function') {
-        callback();
-      }
-
-      return;
-    }
+    this[kMessageStream].destroy();
+    this.closed = true;
 
     if (options.force) {
       this[kStream].destroy();
-      this.destroyed = true;
-      if (typeof callback === 'function') {
-        callback();
+      if (callback) {
+        return process.nextTick(callback);
       }
-
-      return;
     }
 
-    this[kStream].end(() => {
-      this.destroyed = true;
-      if (typeof callback === 'function') {
-        callback();
+    if (!this[kStream].writableEnded) {
+      this[kStream].end(callback);
+    } else {
+      if (callback) {
+        return process.nextTick(callback);
       }
-    });
+    }
   }
 
   command(
diff --git a/test/unit/cmap/connection.test.ts b/test/unit/cmap/connection.test.ts
index c1801cf9e6..c510f1521d 100644
--- a/test/unit/cmap/connection.test.ts
+++ b/test/unit/cmap/connection.test.ts
@@ -31,6 +31,7 @@ const connectionOptionsDefaults = {
 
 /** The absolute minimum socket API needed by Connection as of writing this test */
 class FakeSocket extends EventEmitter {
+  writableEnded: boolean;
   address() {
     // is never called
   }
@@ -39,6 +40,14 @@ class FakeSocket extends EventEmitter {
   }
   destroy() {
     // is called, has no side effects
+    this.writableEnded = true;
+  }
+  end(cb) {
+    this.writableEnded = true;
+    // nextTick to simulate I/O delay
+    if (typeof cb === 'function') {
+      process.nextTick(cb);
+    }
   }
   get remoteAddress() {
     return 'iLoveJavaScript';
@@ -48,6 +57,20 @@ class FakeSocket extends EventEmitter {
   }
 }
 
+class InputStream extends Readable {
+  writableEnded: boolean;
+  constructor(options?) {
+    super(options);
+  }
+
+  end(cb) {
+    this.writableEnded = true;
+    if (typeof cb === 'function') {
+      process.nextTick(cb);
+    }
+  }
+}
+
 describe('new Connection()', function () {
   let server;
   after(() => mock.cleanup());
@@ -106,7 +129,7 @@ describe('new Connection()', function () {
         expect(err).to.be.instanceOf(MongoNetworkTimeoutError);
         expect(result).to.not.exist;
 
-        expect(conn).property('stream').property('destroyed', true);
+        expect(conn).property('stream').property('writableEnded', true);
 
         done();
       });
@@ -175,7 +198,7 @@ describe('new Connection()', function () {
 
       context('when multiple hellos exist on the stream', function () {
         let callbackSpy;
-        const inputStream = new Readable();
+        const inputStream = new InputStream();
         const document = { ok: 1 };
         const last = { isWritablePrimary: true };
 
@@ -394,7 +417,7 @@ describe('new Connection()', function () {
       connection = sinon.spy(new Connection(driverSocket, connectionOptionsDefaults));
       const messageStreamSymbol = getSymbolFrom(connection, 'messageStream');
       kDelayedTimeoutId = getSymbolFrom(connection, 'delayedTimeoutId');
-      messageStream = connection[messageStreamSymbol];
+      messageStream = sinon.spy(connection[messageStreamSymbol]);
     });
 
     afterEach(() => {
@@ -407,13 +430,15 @@ describe('new Connection()', function () {
 
       driverSocket.emit('timeout');
       expect(connection.onTimeout).to.have.been.calledOnce;
+      expect(connection.destroy).to.not.have.been.called;
       expect(connection).to.have.property(kDelayedTimeoutId).that.is.instanceOf(NodeJSTimeoutClass);
       expect(connection).to.have.property('closed', false);
-      expect(driverSocket.destroy).to.not.have.been.called;
+      expect(driverSocket.end).to.not.have.been.called;
 
       clock.tick(1);
 
-      expect(driverSocket.destroy).to.have.been.calledOnce;
+      expect(driverSocket.end).to.have.been.calledOnce;
+      expect(connection.destroy).to.have.been.calledOnce;
       expect(connection).to.have.property('closed', true);
     });
 
@@ -438,6 +463,88 @@ describe('new Connection()', function () {
       expect(connection).to.have.property('closed', false);
       expect(connection).to.have.property(kDelayedTimeoutId, null);
     });
+
+    it('destroys the message stream and socket', () => {
+      expect(connection).to.have.property(kDelayedTimeoutId, null);
+
+      driverSocket.emit('timeout');
+
+      clock.tick(1);
+
+      expect(connection.onTimeout).to.have.been.calledOnce;
+      expect(connection).to.have.property(kDelayedTimeoutId).that.is.instanceOf(NodeJSTimeoutClass);
+
+      expect(messageStream.destroy).to.have.been.calledOnce;
+      expect(driverSocket.destroy).to.not.have.been.called;
+      expect(driverSocket.end).to.have.been.calledOnce;
+    });
+  });
+
+  describe('onError()', () => {
+    let connection: sinon.SinonSpiedInstance<Connection>;
+    let clock: sinon.SinonFakeTimers;
+    let timerSandbox: sinon.SinonFakeTimers;
+    let driverSocket: sinon.SinonSpiedInstance<FakeSocket>;
+    let messageStream: MessageStream;
+    beforeEach(() => {
+      timerSandbox = createTimerSandbox();
+      clock = sinon.useFakeTimers();
+      driverSocket = sinon.spy(new FakeSocket());
+      // @ts-expect-error: driverSocket does not fully satisfy the stream type, but that's okay
+      connection = sinon.spy(new Connection(driverSocket, connectionOptionsDefaults));
+      const messageStreamSymbol = getSymbolFrom(connection, 'messageStream');
+      messageStream = sinon.spy(connection[messageStreamSymbol]);
+    });
+
+    afterEach(() => {
+      timerSandbox.restore();
+      clock.restore();
+    });
+
+    it('destroys the message stream and socket', () => {
+      messageStream.emit('error');
+      clock.tick(1);
+      expect(connection.onError).to.have.been.calledOnce;
+      connection.destroy({ force: false });
+      clock.tick(1);
+      expect(messageStream.destroy).to.have.been.called;
+      expect(driverSocket.destroy).to.not.have.been.called;
+      expect(driverSocket.end).to.have.been.calledOnce;
+    });
+  });
+
+  describe('onClose()', () => {
+    let connection: sinon.SinonSpiedInstance<Connection>;
+    let clock: sinon.SinonFakeTimers;
+    let timerSandbox: sinon.SinonFakeTimers;
+    let driverSocket: sinon.SinonSpiedInstance<FakeSocket>;
+    let messageStream: MessageStream;
+    beforeEach(() => {
+      timerSandbox = createTimerSandbox();
+      clock = sinon.useFakeTimers();
+
+      driverSocket = sinon.spy(new FakeSocket());
+      // @ts-expect-error: driverSocket does not fully satisfy the stream type, but that's okay
+      connection = sinon.spy(new Connection(driverSocket, connectionOptionsDefaults));
+      const messageStreamSymbol = getSymbolFrom(connection, 'messageStream');
+      messageStream = sinon.spy(connection[messageStreamSymbol]);
+    });
+
+    afterEach(() => {
+      timerSandbox.restore();
+      clock.restore();
+    });
+
+    it('destroys the message stream and socket', () => {
+      driverSocket.emit('close');
+      clock.tick(1);
+      expect(connection.onClose).to.have.been.calledOnce;
+      connection.destroy({ force: false });
+      clock.tick(1);
+      expect(messageStream.destroy).to.have.been.called;
+      expect(driverSocket.destroy).to.not.have.been.called;
+      expect(driverSocket.end).to.have.been.calledOnce;
+    });
   });
 
   describe('.hasSessionSupport', function () {
@@ -491,4 +598,96 @@ describe('new Connection()', function () {
       });
     });
   });
+
+  describe('destroy()', () => {
+    let connection: sinon.SinonSpiedInstance<Connection>;
+    let clock: sinon.SinonFakeTimers;
+    let timerSandbox: sinon.SinonFakeTimers;
+    let driverSocket: sinon.SinonSpiedInstance<FakeSocket>;
+    let messageStream: MessageStream;
+    beforeEach(() => {
+      timerSandbox = createTimerSandbox();
+      clock = sinon.useFakeTimers();
+
+      driverSocket = sinon.spy(new FakeSocket());
+      // @ts-expect-error: driverSocket does not fully satisfy the stream type, but that's okay
+      connection = sinon.spy(new Connection(driverSocket, connectionOptionsDefaults));
+      const messageStreamSymbol = getSymbolFrom(connection, 'messageStream');
+      messageStream = sinon.spy(connection[messageStreamSymbol]);
+    });
+
+    afterEach(() => {
+      timerSandbox.restore();
+      clock.restore();
+    });
+
+    context('when options.force == true', function () {
+      it('calls stream.destroy', () => {
+        connection.destroy({ force: true });
+        clock.tick(1);
+        expect(driverSocket.destroy).to.have.been.calledOnce;
+      });
+
+      it('does not call stream.end', () => {
+        connection.destroy({ force: true });
+        clock.tick(1);
+        expect(driverSocket.end).to.not.have.been.called;
+      });
+
+      it('destroys the tcp socket', () => {
+        connection.destroy({ force: true });
+        clock.tick(1);
+        expect(driverSocket.destroy).to.have.been.calledOnce;
+      });
+
+      it('destroys the messageStream', () => {
+        connection.destroy({ force: true });
+        clock.tick(1);
+        expect(messageStream.destroy).to.have.been.calledOnce;
+      });
+
+      it('calls stream.destroy whenever destroy is called ', () => {
+        connection.destroy({ force: true });
+        connection.destroy({ force: true });
+        connection.destroy({ force: true });
+        clock.tick(1);
+        expect(driverSocket.destroy).to.have.been.calledThrice;
+      });
+    });
+
+    context('when options.force == false', function () {
+      it('calls stream.end', () => {
+        connection.destroy({ force: false });
+        clock.tick(1);
+        expect(driverSocket.end).to.have.been.calledOnce;
+      });
+
+      it('does not call stream.destroy', () => {
+        connection.destroy({ force: false });
+        clock.tick(1);
+        expect(driverSocket.destroy).to.not.have.been.called;
+      });
+
+      it('ends the tcp socket', () => {
+        connection.destroy({ force: false });
+        clock.tick(1);
+        expect(driverSocket.end).to.have.been.calledOnce;
+      });
+
+      it('destroys the messageStream', () => {
+        connection.destroy({ force: false });
+        clock.tick(1);
+        expect(messageStream.destroy).to.have.been.calledOnce;
+      });
+
+      it('calls stream.end exactly once when destroy is called multiple times', () => {
+        connection.destroy({ force: false });
+        connection.destroy({ force: false });
+        connection.destroy({ force: false });
+        connection.destroy({ force: false });
+        clock.tick(1);
+        expect(driverSocket.end).to.have.been.calledOnce;
+      });
+    });
+  });
 });