diff --git a/pkg/apis/config/feature_flags.go b/pkg/apis/config/feature_flags.go
index 463eacfaebf..4a6a3fd00d4 100644
--- a/pkg/apis/config/feature_flags.go
+++ b/pkg/apis/config/feature_flags.go
@@ -59,6 +59,8 @@ const (
 	DefaultSendCloudEventsForRuns = false
 	// DefaultEmbeddedStatus is the default value for "embedded-status".
 	DefaultEmbeddedStatus = FullEmbeddedStatus
+	// DefaultEnableCancelUsingEntrypoint is the default value for "enable-cancel-using-entrypoint"
+	DefaultEnableCancelUsingEntrypoint = false
 
 	disableAffinityAssistantKey         = "disable-affinity-assistant"
 	disableCredsInitKey                 = "disable-creds-init"
@@ -70,6 +72,7 @@ const (
 	scopeWhenExpressionsToTask          = "scope-when-expressions-to-task"
 	sendCloudEventsForRuns              = "send-cloudevents-for-runs"
 	embeddedStatus                      = "embedded-status"
+	enableCancelUsingEntrypoint         = "enable-cancel-using-entrypoint"
 )
 
 // FeatureFlags holds the features configurations
@@ -85,6 +88,7 @@ type FeatureFlags struct {
 	EnableAPIFields                  string
 	SendCloudEventsForRuns           bool
 	EmbeddedStatus                   string
+	EnableCancelUsingEntrypoint      bool
 }
 
 // GetFeatureFlagsConfigName returns the name of the configmap containing all
@@ -136,6 +140,9 @@ func NewFeatureFlagsFromMap(cfgMap map[string]string) (*FeatureFlags, error) {
 	if err := setEmbeddedStatus(cfgMap, DefaultEmbeddedStatus, &tc.EmbeddedStatus); err != nil {
 		return nil, err
 	}
+	if err := setFeature(enableCancelUsingEntrypoint, DefaultEnableCancelUsingEntrypoint, &tc.EnableCancelUsingEntrypoint); err != nil {
+		return nil, err
+	}
 
 	// Given that they are alpha features, Tekton Bundles and Custom Tasks should be switched on if
 	// enable-api-fields is "alpha". If enable-api-fields is not "alpha" then fall back to the value of
diff --git a/pkg/apis/config/feature_flags_test.go b/pkg/apis/config/feature_flags_test.go
index dccf4138596..30b8cd218ec 100644
--- a/pkg/apis/config/feature_flags_test.go
+++ b/pkg/apis/config/feature_flags_test.go
@@ -53,6 +53,7 @@ func TestNewFeatureFlagsFromConfigMap(t *testing.T) {
 				EnableAPIFields:                  "alpha",
 				SendCloudEventsForRuns:           true,
 				EmbeddedStatus:                   "both",
+				EnableCancelUsingEntrypoint:      true,
 			},
 			fileName: "feature-flags-all-flags-set",
 		},
diff --git a/pkg/apis/config/testdata/feature-flags-all-flags-set.yaml b/pkg/apis/config/testdata/feature-flags-all-flags-set.yaml
index f80f3be96c2..ed1e6ed17a2 100644
--- a/pkg/apis/config/testdata/feature-flags-all-flags-set.yaml
+++ b/pkg/apis/config/testdata/feature-flags-all-flags-set.yaml
@@ -27,3 +27,4 @@ data:
   enable-api-fields: "alpha"
   send-cloudevents-for-runs: "true"
   embedded-status: "both"
+  enable-cancel-using-entrypoint: "true"
diff --git a/pkg/reconciler/taskrun/taskrun.go b/pkg/reconciler/taskrun/taskrun.go
index 46e03eb1120..af555e9c22c 100644
--- a/pkg/reconciler/taskrun/taskrun.go
+++ b/pkg/reconciler/taskrun/taskrun.go
@@ -140,7 +140,12 @@ func (c *Reconciler) ReconcileKind(ctx context.Context, tr *v1beta1.TaskRun) pkg
 	// If the TaskRun is cancelled, kill resources and update status
 	if tr.IsCancelled() {
 		message := fmt.Sprintf("TaskRun %q was cancelled", tr.Name)
-		err := c.cancelTaskRun(ctx, tr, v1beta1.TaskRunReasonCancelled, message)
+		var err error
+		if isCancelUsingEntrypointEnabled(ctx) {
+			err = c.cancelTaskRun(ctx, tr, v1beta1.TaskRunReasonCancelled, message)
+		} else {
+			err = c.failTaskRun(ctx, tr, v1beta1.TaskRunReasonCancelled, message)
+		}
 		return c.finishReconcileUpdateEmitEvents(ctx, tr, before, err)
 	}
 
@@ -866,3 +871,11 @@ func willOverwritePodSetAffinity(taskRun *v1beta1.TaskRun) bool {
 	}
 	return taskRun.Annotations[workspace.AnnotationAffinityAssistantName] != "" && podTemplate.Affinity != nil
 }
+
+// isCancelUsingEntrypointEnabled returns a bool indicating whether the cancellation of tasks
+// should be performed using the entrypoint binary. The default behaviour is to delete the pods
+// corresponding to a task.
+func isCancelUsingEntrypointEnabled(ctx context.Context) bool {
+	cfg := config.FromContextOrDefaults(ctx)
+	return cfg.FeatureFlags.EnableCancelUsingEntrypoint
+}
diff --git a/pkg/reconciler/taskrun/taskrun_test.go b/pkg/reconciler/taskrun/taskrun_test.go
index 0b71a726796..604e6761d8d 100644
--- a/pkg/reconciler/taskrun/taskrun_test.go
+++ b/pkg/reconciler/taskrun/taskrun_test.go
@@ -1922,6 +1922,111 @@ func TestReconcileOnCancelledTaskRun(t *testing.T) {
 	}
 }
 
+func TestReconcileOnCancelledTaskRunWithFeatureFlag(t *testing.T) {
+	taskRun := &v1beta1.TaskRun{
+		ObjectMeta: objectMeta("test-taskrun-run-cancelled", "foo"),
+		Spec: v1beta1.TaskRunSpec{
+			TaskRef: &v1beta1.TaskRef{
+				Name: simpleTask.Name,
+			},
+			Status: v1beta1.TaskRunSpecStatusCancelled,
+		},
+		Status: v1beta1.TaskRunStatus{
+			Status: duckv1beta1.Status{
+				Conditions: duckv1beta1.Conditions{
+					apis.Condition{
+						Type:   apis.ConditionSucceeded,
+						Status: corev1.ConditionUnknown,
+					},
+				},
+			},
+		},
+	}
+	pod, err := makePod(taskRun, simpleTask)
+	if err != nil {
+		t.Fatalf("MakePod: %v", err)
+	}
+	taskRun.Status.PodName = pod.Name
+
+	expectedStatus := &apis.Condition{
+		Type:    apis.ConditionSucceeded,
+		Status:  corev1.ConditionFalse,
+		Reason:  "TaskRunCancelled",
+		Message: `TaskRun "test-taskrun-run-cancelled" was cancelled`,
+	}
+
+	testCases := []struct {
+		name          string
+		cancelEnabled bool
+	}{
+		{
+			name:          "Taskrun cancellation with entrypoint cancel enabled",
+			cancelEnabled: true,
+		},
+		{
+			name:          "Taskrun cancellation without entrypoint cancel",
+			cancelEnabled: false,
+		},
+	}
+	for _, tc := range testCases {
+		t.Run(tc.name, func(t *testing.T) {
+			d := test.Data{
+				TaskRuns: []*v1beta1.TaskRun{taskRun},
+				Tasks:    []*v1beta1.Task{simpleTask},
+				Pods:     []*corev1.Pod{pod},
+			}
+
+			if tc.cancelEnabled {
+				d.ConfigMaps = []*corev1.ConfigMap{
+					{
+						ObjectMeta: metav1.ObjectMeta{Name: config.GetFeatureFlagsConfigName(), Namespace: system.Namespace()},
+						Data: map[string]string{
+							"enable-cancel-using-entrypoint": "true",
+						},
+					},
+				}
+			}
+
+			testAssets, cancel := getTaskRunController(t, d)
+			defer cancel()
+			c := testAssets.Controller
+			clients := testAssets.Clients
+
+			if err := c.Reconciler.Reconcile(testAssets.Ctx, getRunName(taskRun)); err != nil {
+				t.Fatalf("Unexpected error when reconciling completed TaskRun : %v", err)
+			}
+			newTr, err := clients.Pipeline.TektonV1beta1().TaskRuns(taskRun.Namespace).Get(testAssets.Ctx, taskRun.Name, metav1.GetOptions{})
+			if err != nil {
+				t.Fatalf("Expected completed TaskRun %s to exist but instead got error when getting it: %v", taskRun.Name, err)
+			}
+
+			if d := cmp.Diff(expectedStatus, newTr.Status.GetCondition(apis.ConditionSucceeded), ignoreLastTransitionTime); d != "" {
+				t.Fatalf("Did not get expected condition %s", diff.PrintWantGot(d))
+			}
+
+			wantEvents := []string{
+				"Normal Started",
+				"Warning Failed TaskRun \"test-taskrun-run-cancelled\" was cancelled",
+			}
+			err = eventstest.CheckEventsOrdered(t, testAssets.Recorder.Events, "test-reconcile-on-cancelled-taskrun", wantEvents)
+			if !(err == nil) {
+				t.Errorf(err.Error())
+			}
+
+			_, err = clients.Kube.CoreV1().Pods(pod.ObjectMeta.Namespace).Get(testAssets.Ctx, pod.ObjectMeta.Name, metav1.GetOptions{})
+			if tc.cancelEnabled {
+				if err != nil {
+					t.Errorf("unexpected error: %v", err)
+				}
+			} else {
+				if !k8sapierrors.IsNotFound(err) {
+					t.Errorf("expected a NotFound response, got: %v", err)
+				}
+			}
+		})
+	}
+}
+
 func TestReconcileTimeouts(t *testing.T) {
 	type testCase struct {
 		name           string