diff --git a/src/material/sidenav/BUILD.bazel b/src/material/sidenav/BUILD.bazel
index 12b246015cc9..57323b2e75de 100644
--- a/src/material/sidenav/BUILD.bazel
+++ b/src/material/sidenav/BUILD.bazel
@@ -105,6 +105,7 @@ ng_project(
         "//src/cdk/a11y",
         "//src/cdk/bidi",
         "//src/cdk/keycodes",
+        "//src/cdk/layout",
         "//src/cdk/platform",
         "//src/cdk/scrolling",
         "//src/cdk/testing",
diff --git a/src/material/sidenav/drawer.spec.ts b/src/material/sidenav/drawer.spec.ts
index c16fa2e45ad0..e5ad56723cf8 100644
--- a/src/material/sidenav/drawer.spec.ts
+++ b/src/material/sidenav/drawer.spec.ts
@@ -1,6 +1,7 @@
 import {A11yModule} from '@angular/cdk/a11y';
 import {Direction} from '@angular/cdk/bidi';
 import {ESCAPE} from '@angular/cdk/keycodes';
+import {MediaMatcher} from '@angular/cdk/layout';
 import {CdkScrollable} from '@angular/cdk/scrolling';
 import {
   createKeyboardEvent,
@@ -789,6 +790,39 @@ describe('MatDrawer', () => {
     expect(scrollable.getElementRef().nativeElement).toBe(content.nativeElement);
   });
 
+  it('should not stay in the animating state if a transition does not start', async () => {
+    TestBed.configureTestingModule({
+      providers: [
+        {provide: MATERIAL_ANIMATIONS, useValue: {animationsDisabled: false}},
+        // Ensure that the transitions aren't disabled if the machine has reduced motion enabled.
+        {
+          provide: MediaMatcher,
+          useValue: {
+            matchMedia: () => ({matches: false, addListener: () => {}, removeListener: () => {}}),
+          },
+        },
+      ],
+    });
+
+    const fixture = TestBed.createComponent(BasicTestApp);
+    fixture.detectChanges();
+
+    const testComponent: BasicTestApp = fixture.debugElement.componentInstance;
+    const drawer = fixture.debugElement.query(By.directive(MatDrawer))!;
+
+    // Wait for the container to enable the transitions.
+    await wait(250);
+
+    drawer.componentInstance.open();
+    drawer.componentInstance.close();
+    fixture.detectChanges();
+    await wait(100);
+    fixture.detectChanges();
+
+    expect(drawer.nativeElement.classList).not.toContain('mat-drawer-animating');
+    expect(testComponent.closeCount).toBe(1);
+  });
+
   describe('DOM position', () => {
     it('should project start drawer before the content', () => {
       const fixture = TestBed.createComponent(BasicTestApp);
diff --git a/src/material/sidenav/drawer.ts b/src/material/sidenav/drawer.ts
index 2702d1b8e10c..b296fef374ec 100644
--- a/src/material/sidenav/drawer.ts
+++ b/src/material/sidenav/drawer.ts
@@ -207,6 +207,12 @@ export class MatDrawer implements AfterViewInit, OnDestroy {
   /** Whether the view of the component has been attached. */
   private _isAttached = false;
 
+  /** Whether the drawer is currently animating. */
+  private _isAnimating = false;
+
+  /** Opened state that the drawer had when it started animating. */
+  private _openedBeforeAnimating = false;
+
   /** Anchor node used to restore the drawer to its initial position. */
   private _anchor: Comment | null = null;
 
@@ -587,6 +593,10 @@ export class MatDrawer implements AfterViewInit, OnDestroy {
     this._getContent()?._drawerToggled(this);
 
     if (this._container?._transitionsEnabled) {
+      if (!this._isAnimating) {
+        this._openedBeforeAnimating = !isOpen;
+      }
+
       // Note: it's important to set this as early as possible,
       // otherwise the animation can look glitchy in some cases.
       this._setIsAnimating(true);
@@ -594,7 +604,20 @@ export class MatDrawer implements AfterViewInit, OnDestroy {
       // Previously we dispatched this in a `transitionrun` event, but it might not fire
       // if the element is hidden (see #32992). Since this event is load-bearing for the
       // margin calculations, we need it to fire consistently.
-      setTimeout(() => this._animationStarted.next());
+      setTimeout(() => {
+        this._animationStarted.next();
+
+        // No transition will run if the drawer ended up back in the state it started animating
+        // from, in which case we have to end the animation ourselves.
+        if (
+          this._isAnimating &&
+          this.opened === this._openedBeforeAnimating &&
+          this._elementRef.nativeElement.getAnimations().length === 0
+        ) {
+          this._setIsAnimating(false);
+          this._animationEnd.next();
+        }
+      });
     } else {
       // Simulate the animation events if animations are disabled.
       setTimeout(() => {
@@ -625,6 +648,7 @@ export class MatDrawer implements AfterViewInit, OnDestroy {
 
   /** Toggles whether the drawer is currently animating. */
   private _setIsAnimating(isAnimating: boolean) {
+    this._isAnimating = isAnimating;
     this._elementRef.nativeElement.classList.toggle('mat-drawer-animating', isAnimating);
   }