diff --git a/autopilot/agent_test.go b/autopilot/agent_test.go
index d1de9ccc..2c0b2280 100644
--- a/autopilot/agent_test.go
+++ b/autopilot/agent_test.go
@@ -1546,3 +1546,156 @@ func TestAgentSkipPendingConns(t *testing.T) {
 		t.Fatalf("agent should have attempted connection")
 	}
 }
+
+// TestAgentQuitWhenPendingConns tests that we are able to stop the autopilot
+// agent even though there are pending connections to nodes.
+func TestAgentQuitWhenPendingConns(t *testing.T) {
+	t.Parallel()
+
+	// First, we'll create all the dependencies that we'll need in order to
+	// create the autopilot agent.
+	self, err := randKey()
+	if err != nil {
+		t.Fatalf("unable to generate key: %v", err)
+	}
+
+	quit := make(chan struct{})
+	defer close(quit)
+
+	heuristic := &mockHeuristic{
+		nodeScoresArgs:  make(chan directiveArg),
+		nodeScoresResps: make(chan map[NodeID]*NodeScore),
+		quit:            quit,
+	}
+	constraints := &mockConstraints{
+		moreChansResps: make(chan moreChansResp),
+		quit:           quit,
+	}
+
+	chanController := &mockChanController{
+		openChanSignals: make(chan openChanIntent),
+	}
+	memGraph, _, _ := newMemChanGraph()
+
+	// The wallet will start with 6 BTC available.
+	const walletBalance = btcutil.SatoshiPerBitcoin * 6
+
+	connect := make(chan chan error)
+
+	// With the dependencies we created, we can now create the initial
+	// agent itself.
+	testCfg := Config{
+		Self:           self,
+		Heuristic:      heuristic,
+		ChanController: chanController,
+		WalletBalance: func() (btcutil.Amount, error) {
+			return walletBalance, nil
+		},
+		ConnectToPeer: func(*btcec.PublicKey, []net.Addr) (bool, error) {
+			errChan := make(chan error)
+
+			select {
+			case connect <- errChan:
+			case <-quit:
+				return false, errors.New("quit")
+			}
+
+			select {
+			case err := <-errChan:
+				return false, err
+			case <-quit:
+				return false, errors.New("quit")
+			}
+		},
+		DisconnectPeer: func(*btcec.PublicKey) error {
+			return nil
+		},
+		Graph:       memGraph,
+		Constraints: constraints,
+	}
+	initialChans := []Channel{}
+	agent, err := New(testCfg, initialChans)
+	if err != nil {
+		t.Fatalf("unable to create agent: %v", err)
+	}
+
+	// To ensure the heuristic doesn't block on quitting the agent, we'll
+	// use the agent's quit chan to signal when it should also stop.
+	heuristic.quit = agent.quit
+
+	// With the autopilot agent and all its dependencies we'll start the
+	// primary controller goroutine.
+	if err := agent.Start(); err != nil {
+		t.Fatalf("unable to start agent: %v", err)
+	}
+	defer agent.Stop()
+
+	// We'll only return a single directive for a pre-chosen node.
+	nodeKey, err := memGraph.addRandNode()
+	if err != nil {
+		t.Fatalf("unable to generate key: %v", err)
+	}
+	nodeID := NewNodeID(nodeKey)
+	nodeDirective := &NodeScore{
+		NodeID: nodeID,
+		Score:  0.5,
+	}
+
+	// We'll send an initial "yes" response to advance the agent past its
+	// initial check. This will cause it to try to get directives from the
+	// graph.
+	select {
+	case constraints.moreChansResps <- moreChansResp{
+		numMore: 1,
+		amt:     walletBalance,
+	}:
+	case <-time.After(time.Second * 10):
+		t.Fatalf("heuristic wasn't queried in time")
+	}
+
+	// Check the args.
+	select {
+	case req := <-heuristic.nodeScoresArgs:
+		if len(req.nodes) != 1 {
+			t.Fatalf("expected %v nodes, instead "+
+				"had %v", 1, len(req.nodes))
+		}
+		if _, ok := req.nodes[nodeID]; !ok {
+			t.Fatalf("node not included in arguments")
+		}
+	case <-time.After(time.Second * 10):
+		t.Fatalf("select wasn't queried in time")
+	}
+
+	// Respond with a scored directive.
+	select {
+	case heuristic.nodeScoresResps <- map[NodeID]*NodeScore{
+		NewNodeID(nodeKey): nodeDirective,
+	}:
+	case <-time.After(time.Second * 10):
+		t.Fatalf("heuristic wasn't queried in time")
+	}
+
+	// The agent should attempt connection to the node.
+	select {
+	case <-connect:
+	case <-time.After(time.Second * 10):
+		t.Fatalf("agent did not attempt connection")
+	}
+
+	// Make sure that we are able to stop the agent, even though there is a
+	// pending connection.
+	stopped := make(chan error)
+	go func() {
+		stopped <- agent.Stop()
+	}()
+
+	select {
+	case err := <-stopped:
+		if err != nil {
+			t.Fatalf("error stopping agent: %v", err)
+		}
+	case <-time.After(2 * time.Second):
+		t.Fatalf("unable to stop agent")
+	}
+}