diff --git a/launch/launch/actions/execute_process.py b/launch/launch/actions/execute_process.py
index dbdb90886..eaa4372a1 100644
--- a/launch/launch/actions/execute_process.py
+++ b/launch/launch/actions/execute_process.py
@@ -766,7 +766,8 @@ async def __execute_process(self, context: LaunchContext) -> None:
             ))
         await context.emit_event(ProcessExited(returncode=returncode, **process_event_args))
         # respawn the process if necessary
-        if not context.is_shutdown and not self.__shutdown_future.done() and self.__respawn:
+        if not context.is_shutdown and not self.__shutdown_future.done() and self.__respawn and \
+                returncode != 0:
             if self.__respawn_delay is not None and self.__respawn_delay > 0.0:
                 # wait for a timeout(`self.__respawn_delay`) to respawn the process
                 # and handle shutdown event with future(`self.__shutdown_future`)
diff --git a/launch/test/launch/test_execute_process.py b/launch/test/launch/test_execute_process.py
index bfbcd069d..9a422dbdb 100644
--- a/launch/test/launch/test_execute_process.py
+++ b/launch/test/launch/test_execute_process.py
@@ -152,7 +152,7 @@ def generate_launch_description():
         return LaunchDescription([
 
             ExecuteProcess(
-                cmd=[sys.executable, '-c', "print('action')"],
+                cmd=[sys.executable, '-c', "import sys; print('action'); sys.exit(1)"],
                 respawn=True, respawn_delay=respawn_delay, on_exit=on_exit_callback
             ),