--- a/kernel/signal.c
+++ b/kernel/signal.c
@@ -2004,9 +2004,15 @@ void posixtimer_send_sigqueue(struct k_i
 	if (!prepare_signal(sig, t, false)) {
 		result = TRACE_SIGNAL_IGNORED;
 
-		/* Paranoia check. Try to survive. */
-		if (WARN_ON_ONCE(!list_empty(&q->list)))
+		if (!list_empty(&q->list)) {
+			/*
+			 * If task group is exiting with the signal already pending,
+			 * wait for __exit_signal() to do its job. Otherwise if
+			 * ignored, it's not supposed to be queued. Try to survive.
+			 */
+			WARN_ON_ONCE(!(t->signal->flags & SIGNAL_GROUP_EXIT));
 			goto out;
+		}
 
 		/* Periodic timers with SIG_IGN are queued on the ignored list */
 		if (tmr->it_sig_periodic) {