diff --git a/rcl_lifecycle/src/transition_map.c b/rcl_lifecycle/src/transition_map.c
index 2540bc6..c8b467a 100644
--- a/rcl_lifecycle/src/transition_map.c
+++ b/rcl_lifecycle/src/transition_map.c
@@ -55,6 +55,13 @@ rcl_lifecycle_transition_map_fini(
 {
   rcl_ret_t fcn_ret = RCL_RET_OK;
 
+  // free valid transitions for all states
+  for (unsigned int i = 0; i < transition_map->states_size; ++i) {
+    if (transition_map->states[i].valid_transitions != NULL) {
+      allocator->deallocate(transition_map->states[i].valid_transitions, allocator->state);
+      transition_map->states[i].valid_transitions = NULL;
+    }
+  }
   // free the primary states
   allocator->deallocate(transition_map->states, allocator->state);
   transition_map->states = NULL;