diff --git a/can/bus.py b/can/bus.py
index 2b36b3c57..2b3044cf1 100644
--- a/can/bus.py
+++ b/can/bus.py
@@ -247,13 +247,21 @@ def _send_periodic_internal(self, msg, period, duration=None):
         return task
 
     def stop_all_periodic_tasks(self, remove_tasks=True):
-        """Stop sending any messages that were started using bus.send_periodic
+        """Stop sending any messages that were started using **bus.send_periodic**.
+
+        .. note::
+            The result is undefined if a single task throws an exception while being stopped.
 
         :param bool remove_tasks:
             Stop tracking the stopped tasks.
         """
         for task in self._periodic_tasks:
-            task.stop(remove_task=remove_tasks)
+            # we cannot let `task.stop()` modify `self._periodic_tasks` while we are
+            # iterating over it (#634)
+            task.stop(remove_task=False)
+
+        if remove_tasks:
+            self._periodic_tasks = []
 
     def __iter__(self):
         """Allow iteration on messages as they are received.
diff --git a/test/test_cyclic_socketcan.py b/test/test_cyclic_socketcan.py
index 43a763c79..831264bf4 100644
--- a/test/test_cyclic_socketcan.py
+++ b/test/test_cyclic_socketcan.py
@@ -171,6 +171,56 @@ def test_modify_data_message(self):
                     <= self.DELTA
                 )
 
+    def test_stop_all_periodic_tasks_and_remove_task(self):
+        message_a = can.Message(
+            arbitration_id=0x401,
+            data=[0x11, 0x11, 0x11, 0x11, 0x11, 0x11],
+            is_extended_id=False,
+        )
+        message_b = can.Message(
+            arbitration_id=0x402,
+            data=[0x22, 0x22, 0x22, 0x22, 0x22, 0x22],
+            is_extended_id=False,
+        )
+        message_c = can.Message(
+            arbitration_id=0x403,
+            data=[0x33, 0x33, 0x33, 0x33, 0x33, 0x33],
+            is_extended_id=False,
+        )
+
+        # Start Tasks
+        task_a = self._send_bus.send_periodic(message_a, self.PERIOD)
+        task_b = self._send_bus.send_periodic(message_b, self.PERIOD)
+        task_c = self._send_bus.send_periodic(message_c, self.PERIOD)
+
+        self.assertIsInstance(task_a, can.broadcastmanager.ModifiableCyclicTaskABC)
+        self.assertIsInstance(task_b, can.broadcastmanager.ModifiableCyclicTaskABC)
+        self.assertIsInstance(task_c, can.broadcastmanager.ModifiableCyclicTaskABC)
+
+        for _ in range(6):
+            _ = self._recv_bus.recv(self.PERIOD)
+
+        # Stop all tasks and delete
+        self._send_bus.stop_all_periodic_tasks(remove_tasks=True)
+
+        # Now wait for a few periods, after which we should definitely not
+        # receive any CAN messages
+        time.sleep(4 * self.PERIOD)
+
+        # If we successfully deleted everything, then we will eventually read
+        # 0 messages.
+        successfully_stopped = False
+        for _ in range(6):
+            rx_message = self._recv_bus.recv(self.PERIOD)
+
+            if rx_message is None:
+                successfully_stopped = True
+                break
+        self.assertTrue(successfully_stopped, "Still received messages after stopping")
+
+        # None of the tasks should still be associated with the bus
+        self.assertEqual(0, len(self._send_bus._periodic_tasks))
+
 
 if __name__ == "__main__":
     unittest.main()