diff --git a/packages/block-library/src/navigation-submenu/view.js b/packages/block-library/src/navigation-submenu/view.js
index f990729f48af0..d7fda2f8d8809 100644
--- a/packages/block-library/src/navigation-submenu/view.js
+++ b/packages/block-library/src/navigation-submenu/view.js
@@ -3,6 +3,8 @@ const closeSubmenus = ( element ) => {
 		.querySelectorAll( '[aria-expanded="true"]' )
 		.forEach( ( toggle ) => {
 			toggle.setAttribute( 'aria-expanded', 'false' );
+			// Always focus the trigger, this becomes especially useful in closing submenus with escape key to ensure focus doesn't get trapped.
+			toggle.focus();
 		} );
 };
 
@@ -49,13 +51,16 @@ document.addEventListener( 'click', function ( event ) {
 		}
 	} );
 } );
-// Close on focus outside.
+// Close on focus outside or escape key.
 document.addEventListener( 'keyup', function ( event ) {
 	const submenuBlocks = document.querySelectorAll(
 		'.wp-block-navigation-submenu'
 	);
 	submenuBlocks.forEach( ( block ) => {
-		if ( ! block.contains( event.target ) ) {
+		if (
+			! block.contains( event.target ) ||
+			( block.contains( event.target ) && event.key === 'Escape' )
+		) {
 			closeSubmenus( block );
 		}
 	} );
diff --git a/packages/block-library/src/navigation/view.js b/packages/block-library/src/navigation/view.js
index 5116f983b5400..6456babfbf12b 100644
--- a/packages/block-library/src/navigation/view.js
+++ b/packages/block-library/src/navigation/view.js
@@ -4,6 +4,8 @@ function closeSubmenus( element ) {
 		.querySelectorAll( '[aria-expanded="true"]' )
 		.forEach( function ( toggle ) {
 			toggle.setAttribute( 'aria-expanded', 'false' );
+			// Always focus the trigger, this becomes especially useful in closing submenus with escape key to ensure focus doesn't get trapped.
+			toggle.focus();
 		} );
 }
 
@@ -55,13 +57,16 @@ window.addEventListener( 'load', () => {
 			}
 		} );
 	} );
-	// Close on focus outside.
+	// Close on focus outside or escape key.
 	document.addEventListener( 'keyup', function ( event ) {
 		const submenuBlocks = document.querySelectorAll(
 			'.wp-block-navigation-item.has-child'
 		);
 		submenuBlocks.forEach( function ( block ) {
-			if ( ! block.contains( event.target ) ) {
+			if (
+				! block.contains( event.target ) ||
+				( block.contains( event.target ) && event.key === 'Escape' )
+			) {
 				closeSubmenus( block );
 			}
 		} );