diff --git a/protocols/autonat/CHANGELOG.md b/protocols/autonat/CHANGELOG.md
index 97517fa4a61..f0238ac561c 100644
--- a/protocols/autonat/CHANGELOG.md
+++ b/protocols/autonat/CHANGELOG.md
@@ -1,5 +1,8 @@
 ## 0.16.0
 
+- Close server dial-back connections once the probe completes instead of leaving them open.
+  See [PR 6528](https://github.com/libp2p/rust-libp2p/pull/6528).
+
 - Use `futures-timer` instead of tokio's timer for stream timeouts so the bounded `Delay` works on
   `wasm32`; tokio's timer has no driver in the browser and panics at runtime.
   See [PR 6488](https://github.com/libp2p/rust-libp2p/pull/6488).
@@ -32,7 +35,7 @@
 ## 0.13.0
 
 - Due to the refactor of `Transport` it's no longer required to create a separate transport for
-AutoNAT where port reuse is disabled. This information is now passed by the behaviour.
+  AutoNAT where port reuse is disabled. This information is now passed by the behaviour.
   See [PR 4568](https://github.com/libp2p/rust-libp2p/pull/4568).
 - Introduce the new AutoNATv2 protocol.
   It's split into a client and a server part, represented in their respective modules
@@ -40,11 +43,12 @@ AutoNAT where port reuse is disabled. This information is now passed by the beha
     - The server now always dials back over a newly allocated port.
       This more accurately reflects the reachability state for other peers and avoids accidental hole punching.
     - The server can now test addresses different from the observed address (i.e., the connection to the server was made through a `p2p-circuit`). To mitigate against DDoS attacks, the client has to send more data to the server than the dial-back costs.
-  See [PR 5526](https://github.com/libp2p/rust-libp2p/pull/5526).
+      See [PR 5526](https://github.com/libp2p/rust-libp2p/pull/5526).
 
 <!-- Update to libp2p-swarm v0.45.0 -->
 
 ## 0.12.1
+
 - Use `web-time` instead of `instant`.
   See [PR 5347](https://github.com/libp2p/rust-libp2p/pull/5347).
 
@@ -92,7 +96,6 @@ AutoNAT where port reuse is disabled. This information is now passed by the beha
 
 [PR 3351]: https://github.com/libp2p/rust-libp2p/pull/3351
 
-
 ## 0.9.0
 
 - Update to `libp2p-core` `v0.38.0`.
@@ -177,7 +180,7 @@ AutoNAT where port reuse is disabled. This information is now passed by the beha
 
 - Update to `libp2p-request-response` `v0.16.0`.
 
-- Merge NetworkBehaviour's inject_\* paired methods (see PR 2445).
+- Merge NetworkBehaviour's inject\_\* paired methods (see PR 2445).
 
 [PR 2445]: https://github.com/libp2p/rust-libp2p/pull/2445
 
diff --git a/protocols/autonat/src/v1/behaviour.rs b/protocols/autonat/src/v1/behaviour.rs
index aefd3a337b0..17bf1e813dd 100644
--- a/protocols/autonat/src/v1/behaviour.rs
+++ b/protocols/autonat/src/v1/behaviour.rs
@@ -39,8 +39,8 @@ use libp2p_request_response::{
     self as request_response, InboundRequestId, OutboundRequestId, ProtocolSupport, ResponseChannel,
 };
 use libp2p_swarm::{
-    ConnectionDenied, ConnectionId, ListenAddresses, NetworkBehaviour, THandler, THandlerInEvent,
-    THandlerOutEvent, ToSwarm,
+    CloseConnection, ConnectionDenied, ConnectionId, ListenAddresses, NetworkBehaviour, THandler,
+    THandlerInEvent, THandlerOutEvent, ToSwarm,
     behaviour::{AddressChange, ConnectionClosed, ConnectionEstablished, DialFailure, FromSwarm},
 };
 use web_time::Instant;
@@ -349,6 +349,12 @@ impl Behaviour {
                 if let Some(event) = self.as_server().on_outbound_connection(&peer, address) {
                     self.pending_actions
                         .push_back(ToSwarm::GenerateEvent(Event::InboundProbe(event)));
+                    // The probe is resolved and the response is sent over the peer's own
+                    // connection. Close the dial-back connection.
+                    self.pending_actions.push_back(ToSwarm::CloseConnection {
+                        peer_id: peer,
+                        connection: CloseConnection::One(conn),
+                    });
                 }
             }
             ConnectedPoint::Dialer {
diff --git a/protocols/autonat/src/v2/server/behaviour.rs b/protocols/autonat/src/v2/server/behaviour.rs
index b7a9b98d141..9adaf833d45 100644
--- a/protocols/autonat/src/v2/server/behaviour.rs
+++ b/protocols/autonat/src/v2/server/behaviour.rs
@@ -8,8 +8,8 @@ use either::Either;
 use libp2p_core::{Endpoint, Multiaddr, transport::PortUse};
 use libp2p_identity::PeerId;
 use libp2p_swarm::{
-    ConnectionDenied, ConnectionHandler, ConnectionId, DialFailure, FromSwarm, NetworkBehaviour,
-    ToSwarm,
+    CloseConnection, ConnectionDenied, ConnectionHandler, ConnectionId, DialFailure, FromSwarm,
+    NetworkBehaviour, ToSwarm,
     dial_opts::{DialOpts, PeerCondition},
     dummy,
 };
@@ -102,13 +102,20 @@ where
     fn on_connection_handler_event(
         &mut self,
         peer_id: PeerId,
-        _connection_id: ConnectionId,
+        connection_id: ConnectionId,
         event: <Handler<R> as ConnectionHandler>::ToBehaviour,
     ) {
         match event {
-            Either::Left(Either::Left(Ok(_))) => {}
-            Either::Left(Either::Left(Err(e))) => {
-                tracing::debug!("dial back error: {e:?}");
+            Either::Left(Either::Left(result)) => {
+                if let Err(e) = result {
+                    tracing::debug!("dial back error: {e:?}");
+                }
+                // The dial-back has completed and its outcome reaches the client over
+                // the client's own connection. Close the dial-back connection.
+                self.pending_events.push_back(ToSwarm::CloseConnection {
+                    peer_id,
+                    connection: CloseConnection::One(connection_id),
+                });
             }
             Either::Left(Either::Right(v)) => libp2p_core::util::unreachable(v),
             Either::Right(Either::Left(cmd)) => {