diff --git a/lib/puma/cluster.rb b/lib/puma/cluster.rb
index 952e8c5d33..006dc19f53 100644
--- a/lib/puma/cluster.rb
+++ b/lib/puma/cluster.rb
@@ -35,34 +35,10 @@ def stop_workers
       @workers.each { |x| x.term }
 
       begin
-        if RUBY_VERSION < '2.6'
-          @workers.each do |w|
-            begin
-              Process.waitpid(w.pid)
-            rescue Errno::ECHILD
-              # child is already terminated
-            end
-          end
-        else
-          # below code is for a bug in Ruby 2.6+, above waitpid call hangs
-          t_st = Process.clock_gettime(Process::CLOCK_MONOTONIC)
-          pids = @workers.map(&:pid)
-          loop do
-            pids.reject! do |w_pid|
-              begin
-                if Process.waitpid(w_pid, Process::WNOHANG)
-                  log "    worker status: #{$?}"
-                  true
-                end
-              rescue Errno::ECHILD
-                true # child is already terminated
-              end
-            end
-            break if pids.empty?
-            sleep 0.5
-          end
-          t_end = Process.clock_gettime(Process::CLOCK_MONOTONIC)
-          log format("    worker shutdown time: %6.2f", t_end - t_st)
+        loop do
+          wait_workers
+          break if @workers.empty?
+          sleep 0.2
         end
       rescue Interrupt
         log "! Cancelled waiting for workers"
@@ -99,6 +75,7 @@ def initialize(idx, pid, phase, options)
         @last_checkin = Time.now
         @last_status = '{}'
         @dead = false
+        @term = false
       end
 
       attr_reader :index, :pid, :phase, :signal, :last_checkin, :last_status, :started_at
@@ -120,6 +97,10 @@ def dead!
         @dead = true
       end
 
+      def term?
+        @term
+      end
+
       def ping!(status)
         @last_checkin = Time.now
         @last_status = status
@@ -134,9 +115,9 @@ def term
           if @first_term_sent && (Time.now - @first_term_sent) > @options[:worker_shutdown_timeout]
             @signal = "KILL"
           else
+            @term ||= true
             @first_term_sent ||= Time.now
           end
-
           Process.kill @signal, @pid
         rescue Errno::ESRCH
         end
@@ -227,12 +208,7 @@ def check_workers(force=false)
       # during this loop by giving the kernel time to kill them.
       sleep 1 if any
 
-      pids = []
-      while pid = Process.waitpid(-1, Process::WNOHANG) do
-        pids << pid
-      end
-      @workers.reject! { |w| w.dead? || pids.include?(w.pid) }
-
+      wait_workers
       cull_workers
       spawn_workers
 
@@ -554,5 +530,24 @@ def run
         @wakeup.close
       end
     end
+
+    private
+
+    # loops thru @workers, removing workers that exited, and calling
+    # `#term` if needed
+    def wait_workers
+      @workers.reject! do |w|
+        begin
+          if Process.wait(w.pid, Process::WNOHANG)
+            true
+          else
+            w.term if w.term?
+            nil
+          end
+        rescue Errno::ECHILD
+          true # child is already terminated
+        end
+      end
+    end
   end
 end
diff --git a/test/test_integration.rb b/test/test_integration.rb
index 70555a90fa..08cf265b55 100644
--- a/test/test_integration.rb
+++ b/test/test_integration.rb
@@ -9,13 +9,13 @@
 # TODO: remove stdout logging, get everything out of my rainbow dots
 
 class TestIntegration < Minitest::Test
+  HOST  = "127.0.0.1"
   TOKEN = "xxyyzz"
 
   def setup
-    unique = UniquePort.call
-    @state_path = "test/test_#{unique}_puma.state"
-    @bind_path = "test/test_#{unique}_server.sock"
-    @control_path = "test/test_#{unique}_control.sock"
+    @state_path   = "test/test_#{name}_puma.state"
+    @bind_path    = "test/test_#{name}_server.sock"
+    @control_path = "test/test_#{name}_control.sock"
 
     @server = nil
 
@@ -26,8 +26,8 @@ def setup
   end
 
   def teardown
-    File.unlink @state_path rescue nil
-    File.unlink @bind_path rescue nil
+    File.unlink @state_path   rescue nil
+    File.unlink @bind_path    rescue nil
     File.unlink @control_path rescue nil
 
     @wait.close
@@ -399,4 +399,129 @@ def test_no_zombie_children
     end.compact
     assert_empty zombies, "Process ids #{zombies} became zombies"
   end
+
+  def test_worker_spawn_external_term
+    worker_respawn { |l, old_pids|
+      old_pids.each { |p| Process.kill :TERM, p }
+    }
+  end
+
+  def test_worker_phased_restart
+    worker_respawn { |l, old_pids| l.phased_restart }
+  end
+
+  private
+
+  def worker_respawn
+    skip NO_FORK_MSG unless HAS_FORK
+    port = UniquePort.call
+    workers_booted = 0
+
+    conf = Puma::Configuration.new do |c|
+      c.bind "tcp://#{HOST}:#{port}"
+      c.threads 1, 1
+      c.workers 2
+      c.worker_shutdown_timeout 2
+      c.app TestApps::SLEEP
+      c.after_worker_fork { |idx| workers_booted += 1 }
+    end
+
+    # start Puma via launcher
+    thr, launcher, _e = run_launcher conf
+
+    # make sure two workers have booted
+    time = 0
+    until workers_booted >= 2 || time >= 10
+      sleep 2
+      time += 2
+    end
+
+    cluster = launcher.instance_variable_get :@runner
+
+    http0 = Net::HTTP.new HOST, port
+    http1 = Net::HTTP.new HOST, port
+    body0 = nil
+    body1 = nil
+
+    worker0 = Thread.new do
+      begin
+        req0 = Net::HTTP::Get.new "/sleep35", {}
+        http0.start.request(req0) { |rep0| body0 = rep0.body }
+      rescue
+      end
+    end
+
+    worker1 = Thread.new do
+      begin
+        req1 = Net::HTTP::Get.new "/sleep40", {}
+        http1.start.request(req1) { |rep1| body1 = rep1.body }
+      rescue
+      end
+    end
+
+    old_pids = cluster.instance_variable_get(:@workers).map(&:pid)
+
+    start_time = Time.now.to_f
+
+    # below should 'cancel' the phase 0 workers, either via phased_restart or
+    # externally SIGTERM'ing them
+    yield launcher, old_pids
+
+    # make sure four workers have booted
+    time = 0
+    until workers_booted >= 4 || time >= 45
+      sleep 2
+      time += 2
+    end
+
+    new_pids = cluster.instance_variable_get(:@workers).map(&:pid)
+
+    # should be empty if all old workers removed
+    old_waited = old_pids.map { |pid|
+      begin
+        Process.wait(pid, Process::WNOHANG)
+        pid
+      rescue Errno::ECHILD
+        nil # child is already terminated
+      end
+    }.compact
+
+    Thread.kill worker0
+    Thread.kill worker1
+
+    launcher.stop
+    assert_kind_of Thread, thr.join, "server didn't stop"
+
+    refute_equal 'Slept 35', body0
+    refute_equal 'Slept 40', body1
+
+    # Since 35 is the shorter of the two requests, server should restart
+    # and cancel both requests
+    assert_operator (Time.now.to_f - start_time).round(2), :<, 35
+
+    msg = "old_pids #{old_pids.inspect}  new_pids #{new_pids.inspect}  old_waited #{old_waited.inspect}"
+    assert_equal 2, new_pids.length, msg
+    assert_equal 2, old_pids.length, msg
+    assert_empty new_pids & old_pids, "#{msg}\nBoth workers should be replaced with new"
+    assert_empty old_waited, msg
+  end
+
+  def run_launcher(conf)
+    # below for future PR
+    #@wait, @ready = IO.pipe
+    # @ios_to_close << @wait << @ready
+    #@events = Puma::Events.strings
+    #@events.on_booted { @ready << "!" }
+
+    launcher = Puma::Launcher.new conf, :events => @events
+
+    thr = Thread.new do
+      launcher.run
+    end
+
+    # wait for boot from #@events.on_booted
+    @wait.sysread 1
+
+    [thr, launcher, @events]
+   end
 end