diff --git a/sql/hive-thriftserver/src/main/java/org/apache/hive/service/cli/session/HiveSessionImpl.java b/sql/hive-thriftserver/src/main/java/org/apache/hive/service/cli/session/HiveSessionImpl.java
index fc818bc69c761..f59cdcd3188e6 100644
--- a/sql/hive-thriftserver/src/main/java/org/apache/hive/service/cli/session/HiveSessionImpl.java
+++ b/sql/hive-thriftserver/src/main/java/org/apache/hive/service/cli/session/HiveSessionImpl.java
@@ -641,6 +641,8 @@ public void close() throws HiveSQLException {
       opHandleSet.clear();
       // Cleanup session log directory.
       cleanupSessionLogDir();
+      // Cleanup pipeout file.
+      cleanupPipeoutFile();
       HiveHistory hiveHist = sessionState.getHiveHistory();
       if (null != hiveHist) {
         hiveHist.closeStream();
@@ -665,6 +667,22 @@ public void close() throws HiveSQLException {
     }
   }
 
+  private void cleanupPipeoutFile() {
+    String lScratchDir = hiveConf.getVar(ConfVars.LOCALSCRATCHDIR);
+    String sessionID = hiveConf.getVar(ConfVars.HIVESESSIONID);
+
+    File[] fileAry = new File(lScratchDir).listFiles(
+            (dir, name) -> name.startsWith(sessionID) && name.endsWith(".pipeout"));
+
+    for (File file : fileAry) {
+      try {
+        FileUtils.forceDelete(file);
+      } catch (Exception e) {
+        LOG.error("Failed to cleanup pipeout file: " + file, e);
+      }
+    }
+  }
+
   private void cleanupSessionLogDir() {
     if (isOperationLogEnabled) {
       try {
diff --git a/sql/hive-thriftserver/src/test/scala/org/apache/spark/sql/hive/thriftserver/HiveThriftServer2Suites.scala b/sql/hive-thriftserver/src/test/scala/org/apache/spark/sql/hive/thriftserver/HiveThriftServer2Suites.scala
index b32c547cefefe..192f33a45e273 100644
--- a/sql/hive-thriftserver/src/test/scala/org/apache/spark/sql/hive/thriftserver/HiveThriftServer2Suites.scala
+++ b/sql/hive-thriftserver/src/test/scala/org/apache/spark/sql/hive/thriftserver/HiveThriftServer2Suites.scala
@@ -17,10 +17,11 @@
 
 package org.apache.spark.sql.hive.thriftserver
 
-import java.io.File
+import java.io.{File, FilenameFilter}
 import java.net.URL
 import java.nio.charset.StandardCharsets
 import java.sql.{Date, DriverManager, SQLException, Statement}
+import java.util.UUID
 
 import scala.collection.mutable
 import scala.collection.mutable.ArrayBuffer
@@ -613,6 +614,28 @@ class HiveThriftBinaryServerSuite extends HiveThriftJdbcTest {
       bufferSrc.close()
     }
   }
+
+  test("SPARK-23547 Cleanup the .pipeout file when the Hive Session closed") {
+    def pipeoutFileList(sessionID: UUID): Array[File] = {
+      lScratchDir.listFiles(new FilenameFilter {
+        override def accept(dir: File, name: String): Boolean = {
+          name.startsWith(sessionID.toString) && name.endsWith(".pipeout")
+        }
+      })
+    }
+
+    withCLIServiceClient { client =>
+      val user = System.getProperty("user.name")
+      val sessionHandle = client.openSession(user, "")
+      val sessionID = sessionHandle.getSessionId
+
+      assert(pipeoutFileList(sessionID).length == 1)
+
+      client.closeSession(sessionHandle)
+
+      assert(pipeoutFileList(sessionID).length == 0)
+    }
+  }
 }
 
 class SingleSessionSuite extends HiveThriftJdbcTest {
@@ -807,6 +830,7 @@ abstract class HiveThriftServer2Test extends SparkFunSuite with BeforeAndAfterAl
   private val pidDir: File = Utils.createTempDir(namePrefix = "thriftserver-pid")
   protected var logPath: File = _
   protected var operationLogPath: File = _
+  protected var lScratchDir: File = _
   private var logTailingProcess: Process = _
   private var diagnosisBuffer: ArrayBuffer[String] = ArrayBuffer.empty[String]
 
@@ -844,6 +868,7 @@ abstract class HiveThriftServer2Test extends SparkFunSuite with BeforeAndAfterAl
        |  --hiveconf ${ConfVars.HIVE_SERVER2_THRIFT_BIND_HOST}=localhost
        |  --hiveconf ${ConfVars.HIVE_SERVER2_TRANSPORT_MODE}=$mode
        |  --hiveconf ${ConfVars.HIVE_SERVER2_LOGGING_OPERATION_LOG_LOCATION}=$operationLogPath
+       |  --hiveconf ${ConfVars.LOCALSCRATCHDIR}=$lScratchDir
        |  --hiveconf $portConf=$port
        |  --driver-class-path $driverClassPath
        |  --driver-java-options -Dlog4j.debug
@@ -873,6 +898,8 @@ abstract class HiveThriftServer2Test extends SparkFunSuite with BeforeAndAfterAl
     metastorePath.delete()
     operationLogPath = Utils.createTempDir()
     operationLogPath.delete()
+    lScratchDir = Utils.createTempDir()
+    lScratchDir.delete()
     logPath = null
     logTailingProcess = null
 
@@ -956,6 +983,9 @@ abstract class HiveThriftServer2Test extends SparkFunSuite with BeforeAndAfterAl
     operationLogPath.delete()
     operationLogPath = null
 
+    lScratchDir.delete()
+    lScratchDir = null
+
     Option(logPath).foreach(_.delete())
     logPath = null