diff --git a/core/src/validator.rs b/core/src/validator.rs
index 8d4ce24d5bbbc4..8b72ebe179c3d2 100644
--- a/core/src/validator.rs
+++ b/core/src/validator.rs
@@ -871,8 +871,11 @@ impl Validator {
         let (gossip_verified_vote_hash_sender, gossip_verified_vote_hash_receiver) = unbounded();
         let (cluster_confirmed_slot_sender, cluster_confirmed_slot_receiver) = unbounded();
 
-        let rpc_completed_slots_service =
-            RpcCompletedSlotsService::spawn(completed_slots_receiver, rpc_subscriptions.clone());
+        let rpc_completed_slots_service = RpcCompletedSlotsService::spawn(
+            completed_slots_receiver,
+            rpc_subscriptions.clone(),
+            exit.clone(),
+        );
 
         let (replay_vote_sender, replay_vote_receiver) = unbounded();
         let tvu = Tvu::new(
@@ -1813,7 +1816,11 @@ mod tests {
         crossbeam_channel::{bounded, RecvTimeoutError},
         solana_ledger::{create_new_tmp_ledger, genesis_utils::create_genesis_config_with_leader},
         solana_sdk::{genesis_config::create_genesis_config, poh_config::PohConfig},
+<<<<<<< HEAD
         std::{fs::remove_dir_all, thread},
+=======
+        std::{fs::remove_dir_all, thread, time::Duration},
+>>>>>>> 51b37f018 (Modify rpc_completed_slot_service to be non-blocking (#24007))
     };
 
     #[test]
@@ -1948,12 +1955,22 @@ mod tests {
 
         // Each validator can exit in parallel to speed many sequential calls to join`
         validators.iter_mut().for_each(|v| v.exit());
-        // While join is called sequentially, the above exit call notified all the
-        // validators to exit from all their threads
-        validators.into_iter().for_each(|validator| {
-            validator.join();
+
+        // spawn a new thread to wait for the join of the validator
+        let (sender, receiver) = bounded(0);
+        let _ = thread::spawn(move || {
+            validators.into_iter().for_each(|validator| {
+                validator.join();
+            });
+            sender.send(()).unwrap();
         });
 
+        // timeout of 30s for shutting down the validators
+        let timeout = Duration::from_secs(30);
+        if let Err(RecvTimeoutError::Timeout) = receiver.recv_timeout(timeout) {
+            panic!("timeout for shutting down validators",);
+        }
+
         for path in ledger_paths {
             remove_dir_all(path).unwrap();
         }
diff --git a/rpc/src/rpc_completed_slots_service.rs b/rpc/src/rpc_completed_slots_service.rs
index 0f9d393e61b88d..61eabba75a9dae 100644
--- a/rpc/src/rpc_completed_slots_service.rs
+++ b/rpc/src/rpc_completed_slots_service.rs
@@ -4,21 +4,35 @@ use {
     solana_ledger::blockstore::CompletedSlotsReceiver,
     solana_sdk::timing::timestamp,
     std::{
-        sync::Arc,
+        sync::{
+            atomic::{AtomicBool, Ordering},
+            Arc,
+        },
         thread::{Builder, JoinHandle},
+        time::Duration,
     },
 };
 
+pub const COMPLETE_SLOT_REPORT_SLEEP_MS: u64 = 100;
+
 pub struct RpcCompletedSlotsService;
 impl RpcCompletedSlotsService {
     pub fn spawn(
         completed_slots_receiver: CompletedSlotsReceiver,
         rpc_subscriptions: Arc<RpcSubscriptions>,
+        exit: Arc<AtomicBool>,
     ) -> JoinHandle<()> {
         Builder::new()
             .name("solana-rpc-completed-slots-service".to_string())
-            .spawn(move || {
-                for slots in completed_slots_receiver.iter() {
+            .spawn(move || loop {
+                // shutdown the service
+                if exit.load(Ordering::Relaxed) {
+                    break;
+                }
+
+                if let Ok(slots) = completed_slots_receiver
+                    .recv_timeout(Duration::from_millis(COMPLETE_SLOT_REPORT_SLEEP_MS))
+                {
                     for slot in slots {
                         rpc_subscriptions.notify_slot_update(SlotUpdate::Completed {
                             slot,