diff --git a/sys/dev/mfi/mfi.c b/sys/dev/mfi/mfi.c
index cf2d50536206..b20ddc553e13 100644
--- a/sys/dev/mfi/mfi.c
+++ b/sys/dev/mfi/mfi.c
@@ -3773,12 +3773,15 @@ mfi_timeout(void *data)
 				MFI_PRINT_CMD(cm);
 				MFI_VALIDATE_CMD(sc, cm);
 				/*
-				 * Fail the command instead of leaving it on
-				 * the queue where it could remain stuck forever
+				 * While commands can get stuck forever we do
+				 * not fail them as there is no way to tell if
+				 * the controller has actually processed them
+				 * or not.
+				 *
+				 * In addition its very likely that force
+				 * failing a command here would cause a panic
+				 * e.g. in UFS.
 				 */
-				mfi_remove_busy(cm);
-				cm->cm_error = ETIMEDOUT;
-				mfi_complete(sc, cm);
 				timedout++;
 			}
 		}