diff --git a/nav2_waypoint_follower/src/waypoint_follower.cpp b/nav2_waypoint_follower/src/waypoint_follower.cpp
index 5de0a1a3f13..58aafef6a3c 100644
--- a/nav2_waypoint_follower/src/waypoint_follower.cpp
+++ b/nav2_waypoint_follower/src/waypoint_follower.cpp
@@ -291,6 +291,7 @@ WaypointFollower::resultCallback(
       get_logger(),
       "Goal IDs do not match for the current goal handle and received result."
       "Ignoring likely due to receiving result for an old goal.");
+      return;
   }
 
   switch (result.code) {