diff --git a/config/src/test/java/org/springframework/security/config/annotation/web/configurers/RememberMeConfigurerTests.java b/config/src/test/java/org/springframework/security/config/annotation/web/configurers/RememberMeConfigurerTests.java
index 034fd18fbb2..606c581c6e1 100644
--- a/config/src/test/java/org/springframework/security/config/annotation/web/configurers/RememberMeConfigurerTests.java
+++ b/config/src/test/java/org/springframework/security/config/annotation/web/configurers/RememberMeConfigurerTests.java
@@ -49,6 +49,8 @@
 import org.springframework.security.test.web.servlet.response.SecurityMockMvcResultMatchers;
 import org.springframework.security.web.SecurityFilterChain;
 import org.springframework.security.web.authentication.RememberMeServices;
+import org.springframework.security.web.authentication.rememberme.InMemoryTokenRepositoryImpl;
+import org.springframework.security.web.authentication.rememberme.PersistentTokenRepository;
 import org.springframework.security.web.authentication.rememberme.RememberMeAuthenticationFilter;
 import org.springframework.security.web.authentication.rememberme.TokenBasedRememberMeServices;
 import org.springframework.security.web.context.HttpRequestResponseHolder;
@@ -73,6 +75,7 @@
 import static org.springframework.security.test.web.servlet.request.SecurityMockMvcRequestPostProcessors.csrf;
 import static org.springframework.security.test.web.servlet.request.SecurityMockMvcRequestPostProcessors.httpBasic;
 import static org.springframework.security.test.web.servlet.response.SecurityMockMvcResultMatchers.authenticated;
+import static org.springframework.security.test.web.servlet.response.SecurityMockMvcResultMatchers.unauthenticated;
 import static org.springframework.test.web.servlet.request.MockMvcRequestBuilders.get;
 import static org.springframework.test.web.servlet.request.MockMvcRequestBuilders.post;
 import static org.springframework.test.web.servlet.result.MockMvcResultMatchers.content;
@@ -214,6 +217,32 @@ public void logoutWhenRememberMeCookieThenAuthenticationIsRememberMeCookieExpire
 		// @formatter:on
 	}
 
+	// gh-10241
+	@Test
+	public void logoutWhenSessionIsInvalidThenRememberMeTokenIsInvalidated() throws Exception {
+		this.spring.register(PersistentRememberMeConfig.class).autowire();
+
+		MockHttpServletRequestBuilder loginRequest = post("/login")
+				.with(csrf())
+				.param("username", "user")
+				.param("password", "password")
+				.param("remember-me", "true");
+
+		MvcResult loginMvcResult = this.mvc.perform(loginRequest).andReturn();
+		Cookie rememberMeCookie = loginMvcResult.getResponse().getCookie("remember-me");
+
+		MockHttpServletRequestBuilder logoutRequest = post("/logout")
+				.with(csrf())
+				.cookie(rememberMeCookie);
+
+		this.mvc.perform(logoutRequest)
+				.andExpect(redirectedUrl("/login?logout"))
+				.andExpect(cookie().maxAge("remember-me", 0));
+
+		this.mvc.perform(get("/").cookie(rememberMeCookie))
+				.andExpect(unauthenticated());
+	}
+
 	@Test
 	public void getWhenRememberMeCookieAndLoggedOutThenRedirectsToLogin() throws Exception {
 		this.spring.register(RememberMeConfig.class).autowire();
@@ -500,6 +529,37 @@ UserDetailsService userDetailsService() {
 
 	}
 
+	@Configuration
+	@EnableWebSecurity
+	static class PersistentRememberMeConfig {
+
+		@Bean
+		SecurityFilterChain filterChain(HttpSecurity http, PersistentTokenRepository tokenRepository) throws Exception {
+			// @formatter:off
+			http
+					.authorizeHttpRequests((requests) -> requests
+							.anyRequest().hasRole("USER")
+					)
+					.formLogin(withDefaults())
+					.rememberMe((rememberMe) -> rememberMe
+							.tokenRepository(tokenRepository)
+					);
+			return http.build();
+			// @formatter:on
+		}
+
+		@Bean
+		PersistentTokenRepository persistentTokenRepository() {
+			return new InMemoryTokenRepositoryImpl();
+		}
+
+		@Bean
+		UserDetailsService userDetailsService() {
+			return new InMemoryUserDetailsManager(PasswordEncodedUser.user());
+		}
+
+	}
+
 	@Configuration
 	@EnableWebSecurity
 	static class RememberMeInLambdaConfig {
diff --git a/web/src/main/java/org/springframework/security/web/authentication/rememberme/PersistentTokenBasedRememberMeServices.java b/web/src/main/java/org/springframework/security/web/authentication/rememberme/PersistentTokenBasedRememberMeServices.java
index e6359451ff7..6519cdbb7dd 100644
--- a/web/src/main/java/org/springframework/security/web/authentication/rememberme/PersistentTokenBasedRememberMeServices.java
+++ b/web/src/main/java/org/springframework/security/web/authentication/rememberme/PersistentTokenBasedRememberMeServices.java
@@ -162,6 +162,21 @@ public void logout(HttpServletRequest request, HttpServletResponse response,
 		super.logout(request, response, authentication);
 		if (authentication != null) {
 			this.tokenRepository.removeUserTokens(authentication.getName());
+			return;
+		}
+
+		String rememberMeCookie = extractRememberMeCookie(request);
+		if (rememberMeCookie != null) {
+			try {
+				String[] cookieTokens = decodeCookie(rememberMeCookie);
+				PersistentRememberMeToken persistentToken = this.tokenRepository.getTokenForSeries(cookieTokens[0]);
+				if (persistentToken != null) {
+					this.tokenRepository.removeUserTokens(persistentToken.getUsername());
+				}
+			}
+			catch (InvalidCookieException ex) {
+				// Ignore invalid remember-me cookies during logout
+			}
 		}
 	}
 
diff --git a/web/src/test/java/org/springframework/security/web/authentication/rememberme/PersistentTokenBasedRememberMeServicesTests.java b/web/src/test/java/org/springframework/security/web/authentication/rememberme/PersistentTokenBasedRememberMeServicesTests.java
index e5587dee3aa..9a7e9509384 100644
--- a/web/src/test/java/org/springframework/security/web/authentication/rememberme/PersistentTokenBasedRememberMeServicesTests.java
+++ b/web/src/test/java/org/springframework/security/web/authentication/rememberme/PersistentTokenBasedRememberMeServicesTests.java
@@ -130,6 +130,18 @@ public void logoutClearsUsersTokenAndCookie() {
 		this.services.logout(request, response, null);
 	}
 
+
+	@Test
+	public void logoutWhenAuthenticationIsNullAndRememberMeCookieIsPresentThenClearsUsersToken() {
+		this.services = create(new PersistentRememberMeToken("joe", "series", "token", new Date()));
+		MockHttpServletRequest request = new MockHttpServletRequest();
+		request.setCookies(new Cookie("mycookiename", this.services.encodeCookie(new String[] { "series", "token" })));
+
+		this.services.logout(request, new MockHttpServletResponse(), null);
+
+		assertThat(this.repo.getRemovedUsername()).isEqualTo("joe");
+	}
+
 	private PersistentTokenBasedRememberMeServices create(PersistentRememberMeToken token) {
 		this.repo = new MockTokenRepository(token);
 		PersistentTokenBasedRememberMeServices services = new PersistentTokenBasedRememberMeServices("key",
@@ -165,8 +177,15 @@ public PersistentRememberMeToken getTokenForSeries(String seriesId) {
 
 		@Override
 		public void removeUserTokens(String username) {
+			this.removedUsername = username;
 		}
 
+
+		private String removedUsername;
+
+		String getRemovedUsername() {
+			return this.removedUsername;
+		}
 		PersistentRememberMeToken getStoredToken() {
 			return this.storedToken;
 		}