diff --git a/command.go b/command.go
index 4794e5ebe..a08cf342e 100644
--- a/command.go
+++ b/command.go
@@ -138,6 +138,8 @@ type Command struct {
 	RunE func(cmd *Command, args []string) error
 	// PostRun: run after the Run command.
 	PostRun func(cmd *Command, args []string)
+	// Finalize: run at the end of the Run command, even if it panics.
+	Finalize func(cmd *Command, args []string)
 	// PostRunE: PostRun but returns an error.
 	PostRunE func(cmd *Command, args []string) error
 	// PersistentPostRun: children of this command will inherit and execute after PostRun.
@@ -961,6 +963,7 @@ func (c *Command) execute(a []string) (err error) {
 	defer c.postRun()
 
 	argWoFlags := c.Flags().Args()
+
 	if c.DisableFlagParsing {
 		argWoFlags = a
 	}
@@ -981,6 +984,13 @@ func (c *Command) execute(a []string) (err error) {
 			parents = append(parents, p)
 		}
 	}
+	defer func() {
+		for _, p := range parents {
+			if p.Finalize != nil {
+				p.Finalize(c, argWoFlags)
+			}
+		}
+	}()
 	for _, p := range parents {
 		if p.PersistentPreRunE != nil {
 			if err := p.PersistentPreRunE(c, argWoFlags); err != nil {
diff --git a/command_test.go b/command_test.go
index 156df9eb6..082cac949 100644
--- a/command_test.go
+++ b/command_test.go
@@ -2952,3 +2952,37 @@ func TestHelpFuncExecuted(t *testing.T) {
 
 	checkStringContains(t, output, helpText)
 }
+
+func TestFinalizeOfChildAndParentCalledOnPanic(t *testing.T) {
+	parentFinalizeCalls := 0
+	childFinalizeCalls := 0
+	defer func() {
+		if recover() == nil {
+			t.Error("The code should have panicked due to panicking run")
+		}
+		if parentFinalizeCalls != 1 {
+			t.Errorf("finalize() of parent command called %d times, want 1", parentFinalizeCalls)
+		}
+		if childFinalizeCalls != 1 {
+			t.Errorf("finalize() of child command called %d times, want 1", childFinalizeCalls)
+		}
+	}()
+	rootCmd := &Command{
+		Use: "root",
+		Run: emptyRun,
+		Finalize: func(cmd *Command, args []string) {
+			parentFinalizeCalls++
+		},
+	}
+	subCmd := &Command{
+		Use: "sub",
+		Run: func(cmd *Command, args []string) {
+			panic("should panic")
+		},
+		Finalize: func(cmd *Command, args []string) {
+			childFinalizeCalls++
+		},
+	}
+	rootCmd.AddCommand(subCmd)
+	executeCommand(rootCmd, "sub")
+}