diff --git a/rclcpp/src/rclcpp/utilities.cpp b/rclcpp/src/rclcpp/utilities.cpp
index 18a6d38..4d20c33 100644
--- a/rclcpp/src/rclcpp/utilities.cpp
+++ b/rclcpp/src/rclcpp/utilities.cpp
@@ -167,8 +167,16 @@ rclcpp::utilities::init(int argc, char * argv[])
   action.sa_sigaction = ::signal_handler;
   action.sa_flags = SA_SIGINFO;
   ::old_action = set_sigaction(SIGINT, action);
+  // Register an on_shutdown hook to restore the old action.
+  rclcpp::utilities::on_shutdown([]() {
+    set_sigaction(SIGINT, ::old_action);
+  });
 #else
   ::old_signal_handler = set_signal_handler(SIGINT, ::signal_handler);
+  // Register an on_shutdown hook to restore the old signal handler.
+  rclcpp::utilities::on_shutdown([]() {
+    set_signal_handler(SIGINT, ::old_signal_handler);
+  });
 #endif
 }