diff --git a/spring-r2dbc/src/main/java/org/springframework/r2dbc/connection/R2dbcTransactionManager.java b/spring-r2dbc/src/main/java/org/springframework/r2dbc/connection/R2dbcTransactionManager.java
index fbd918a4f80..7e4a0e49db4 100644
--- a/spring-r2dbc/src/main/java/org/springframework/r2dbc/connection/R2dbcTransactionManager.java
+++ b/spring-r2dbc/src/main/java/org/springframework/r2dbc/connection/R2dbcTransactionManager.java
@@ -357,26 +357,41 @@ public class R2dbcTransactionManager extends AbstractReactiveTransactionManager
 			Mono<Void> afterCleanup = Mono.empty();
 
 			if (txObject.isMustRestoreAutoCommit()) {
-				afterCleanup = afterCleanup.then(Mono.from(con.setAutoCommit(true)));
+				Mono<Void> restoreAutoCommitStep = safeCleanupStep(
+						"doCleanupAfterCompletion when restoring autocommit", Mono.from(con.setAutoCommit(true)));
+				afterCleanup = afterCleanup.then(restoreAutoCommitStep);
 			}
 
-			return afterCleanup.then(Mono.defer(() -> {
+			Mono<Void> releaseConnectionStep = Mono.defer(() -> {
 				try {
 					if (txObject.isNewConnectionHolder()) {
 						if (logger.isDebugEnabled()) {
 							logger.debug("Releasing R2DBC Connection [" + con + "] after transaction");
 						}
-						return ConnectionFactoryUtils.releaseConnection(con, obtainConnectionFactory());
+						return safeCleanupStep("doCleanupAfterCompletion when releasing R2DBC Connection",
+								ConnectionFactoryUtils.releaseConnection(con, obtainConnectionFactory()));
 					}
 				}
 				finally {
 					txObject.getConnectionHolder().clear();
 				}
 				return Mono.empty();
-			}));
+			});
+			return afterCleanup.then(releaseConnectionStep);
 		});
 	}
 
+	private Mono<Void> safeCleanupStep(String stepDescription, Mono<Void> stepMono) {
+		if (!logger.isDebugEnabled()) {
+			return stepMono.onErrorComplete();
+		}
+		else {
+			return stepMono.doOnError(e ->
+							logger.debug(String.format("Error ignored during %s: %s", stepDescription, e)))
+					.onErrorComplete();
+		}
+	}
+
 	private Mono<Void> switchAutoCommitIfNecessary(Connection con, Object transaction) {
 		ConnectionFactoryTransactionObject txObject = (ConnectionFactoryTransactionObject) transaction;
 		Mono<Void> prepare = Mono.empty();
diff --git a/spring-r2dbc/src/test/java/org/springframework/r2dbc/connection/R2dbcTransactionManagerUnitTests.java b/spring-r2dbc/src/test/java/org/springframework/r2dbc/connection/R2dbcTransactionManagerUnitTests.java
index 03994a311d8..7247afe9d2a 100644
--- a/spring-r2dbc/src/test/java/org/springframework/r2dbc/connection/R2dbcTransactionManagerUnitTests.java
+++ b/spring-r2dbc/src/test/java/org/springframework/r2dbc/connection/R2dbcTransactionManagerUnitTests.java
@@ -23,13 +23,16 @@ import io.r2dbc.spi.Connection;
 import io.r2dbc.spi.ConnectionFactory;
 import io.r2dbc.spi.IsolationLevel;
 import io.r2dbc.spi.R2dbcBadGrammarException;
+import io.r2dbc.spi.R2dbcTimeoutException;
 import io.r2dbc.spi.Statement;
+import org.assertj.core.api.Assertions;
 import org.junit.jupiter.api.BeforeEach;
 import org.junit.jupiter.api.Test;
 import org.mockito.ArgumentCaptor;
 import reactor.core.publisher.Mono;
 import reactor.test.StepVerifier;
 
+import org.springframework.r2dbc.BadSqlGrammarException;
 import org.springframework.transaction.CannotCreateTransactionException;
 import org.springframework.transaction.IllegalTransactionStateException;
 import org.springframework.transaction.TransactionDefinition;
@@ -326,6 +329,34 @@ class R2dbcTransactionManagerUnitTests {
 		verifyNoMoreInteractions(connectionMock);
 	}
 
+	@Test
+	@SuppressWarnings("unchecked")
+	void testConnectionReleasedWhenRollbackFails() {
+		when(connectionMock.rollbackTransaction()).thenReturn(Mono.defer(() -> Mono.error(new R2dbcBadGrammarException("Rollback should fail"))), Mono.empty());
+
+		TransactionalOperator operator = TransactionalOperator.create(tm);
+
+		when(connectionMock.isAutoCommit()).thenReturn(true);
+		when(connectionMock.setAutoCommit(true)).thenReturn(Mono.defer(() -> Mono.error(new R2dbcTimeoutException("SET AUTOCOMMIT = 1 timed out"))));
+		when(connectionMock.setTransactionIsolationLevel(any())).thenReturn(Mono.empty());
+		when(connectionMock.setAutoCommit(false)).thenReturn(Mono.empty());
+
+		operator.execute(reactiveTransaction -> ConnectionFactoryUtils.getConnection(connectionFactoryMock)
+						.doOnNext(connection -> {
+							throw new IllegalStateException("Intentional error to trigger rollback");
+						}).then()).as(StepVerifier::create)
+				.verifyErrorSatisfies(e -> Assertions.assertThat(e)
+						.isInstanceOf(BadSqlGrammarException.class)
+						.hasCause(new R2dbcBadGrammarException("Rollback should fail"))
+				);
+
+		verify(connectionMock).isAutoCommit();
+		verify(connectionMock).beginTransaction(any(io.r2dbc.spi.TransactionDefinition.class));
+		verify(connectionMock, never()).commitTransaction();
+		verify(connectionMock).rollbackTransaction();
+		verify(connectionMock).close();
+	}
+
 	@Test
 	void testTransactionSetRollbackOnly() {
 		when(connectionMock.rollbackTransaction()).thenReturn(Mono.empty());