diff --git a/core/drivers/stm32_gpio.c b/core/drivers/stm32_gpio.c
index d74c12e32c7..8c2e614b290 100644
--- a/core/drivers/stm32_gpio.c
+++ b/core/drivers/stm32_gpio.c
@@ -1628,6 +1628,7 @@ static TEE_Result apply_sec_cfg(void)
 {
 	TEE_Result res = TEE_ERROR_GENERIC;
 	struct stm32_gpio_bank *bank = NULL;
+	unsigned int pin = 0;
 
 	STAILQ_FOREACH(bank, &bank_list, link) {
 		if (bank->ready)
@@ -1644,6 +1645,17 @@ static TEE_Result apply_sec_cfg(void)
 				free(bank);
 				return res;
 			}
+
+			/*
+			 * Semaphores for pinctrl and GPIO are taken when
+			 * these are used (pinctrl state applied, GPIO
+			 * consumed) or when an explicit firewall configuration
+			 * is requested through the firewall framework.
+			 * Therefore release here the taken semaphores.
+			 */
+			for (pin = 0; pin < bank->ngpios; pin++)
+				release_rif_semaphore_if_acquired(bank, pin);
+
 		} else {
 			stm32_gpio_set_conf_sec(bank);
 		}