diff --git a/include/linux/sched/task.h b/include/linux/sched/task.h
index d23977e9035d..0c2d00809915 100644
--- a/include/linux/sched/task.h
+++ b/include/linux/sched/task.h
@@ -108,10 +108,36 @@ static inline struct task_struct *get_task_struct(struct task_struct *t)
 }
 
 extern void __put_task_struct(struct task_struct *t);
+extern void __put_task_struct_rcu_cb(struct rcu_head *rhp);
 
 static inline void put_task_struct(struct task_struct *t)
 {
-	if (refcount_dec_and_test(&t->usage))
+	if (!refcount_dec_and_test(&t->usage))
+		return;
+
+	/*
+	 * under PREEMPT_RT, we can't call put_task_struct
+	 * in atomic context because it will indirectly
+	 * acquire sleeping locks.
+	 *
+	 * call_rcu() will schedule delayed_put_task_struct_rcu()
+	 * to be called in process context.
+	 *
+	 * __put_task_struct() is called when
+	 * refcount_dec_and_test(&t->usage) succeeds.
+	 *
+	 * This means that it can't "conflict" with
+	 * put_task_struct_rcu_user() which abuses ->rcu the same
+	 * way; rcu_users has a reference so task->usage can't be
+	 * zero after rcu_users 1 -> 0 transition.
+	 *
+	 * delayed_free_task() also uses ->rcu, but it is only called
+	 * when it fails to fork a process. Therefore, there is no
+	 * way it can conflict with put_task_struct().
+	 */
+	if (IS_ENABLED(CONFIG_PREEMPT_RT) && !preemptible())
+		call_rcu(&t->rcu, __put_task_struct_rcu_cb);
+	else
 		__put_task_struct(t);
 }
 
diff --git a/kernel/fork.c b/kernel/fork.c
index ace0717c71e2..753e641f617b 100644
--- a/kernel/fork.c
+++ b/kernel/fork.c
@@ -764,6 +764,14 @@ void __put_task_struct(struct task_struct *tsk)
 }
 EXPORT_SYMBOL_GPL(__put_task_struct);
 
+void __put_task_struct_rcu_cb(struct rcu_head *rhp)
+{
+	struct task_struct *task = container_of(rhp, struct task_struct, rcu);
+
+	__put_task_struct(task);
+}
+EXPORT_SYMBOL_GPL(__put_task_struct_rcu_cb);
+
 void __init __weak arch_task_cache_init(void) { }
 
 /*