diff --git a/doc/openocd.texi b/doc/openocd.texi
index 579f39844..a21a3e4bd 100644
--- a/doc/openocd.texi
+++ b/doc/openocd.texi
@@ -9529,7 +9529,12 @@ port is 6666.
 @section Server Commands
 
 @deffn {Command} {exit}
-Exits the current telnet session.
+Exits the current telnet or Tcl session but the OpenOCD process remains running.
+This command should only be used in telnet or Tcl sessions (and not directly
+in Tcl scripts).
+
+Note: To terminate the whole OpenOCD process, use the
+@command{shutdown} command instead.
 @end deffn
 
 @deffn {Command} {help} [string]
diff --git a/src/server/server.c b/src/server/server.c
index 0b957836d..62c2ce821 100644
--- a/src/server/server.c
+++ b/src/server/server.c
@@ -783,6 +783,23 @@ COMMAND_HANDLER(handle_shutdown_command)
 	return ERROR_COMMAND_CLOSE_CONNECTION;
 }
 
+COMMAND_HANDLER(handle_exit_command)
+{
+	if (!tcl_is_from_tcl_session(CMD_CTX)
+			&& !telnet_is_from_telnet_session(CMD_CTX)) {
+		LOG_WARNING("DEPRECATED: 'exit' should only be used in telnet or Tcl "
+			"sessions to close the session");
+		LOG_WARNING("Did you mean 'shutdown'?");
+		return command_run_line(CMD_CTX, "shutdown");
+	}
+
+	if (CMD_ARGC != 0)
+		return ERROR_COMMAND_SYNTAX_ERROR;
+
+	/* Disconnect telnet / Tcl session */
+	return ERROR_COMMAND_CLOSE_CONNECTION;
+}
+
 COMMAND_HANDLER(handle_poll_period_command)
 {
 	if (CMD_ARGC == 0)
@@ -819,6 +836,13 @@ static const struct command_registration server_command_handlers[] = {
 		.usage = "",
 		.help = "shut the server down",
 	},
+	{
+		.name = "exit",
+		.handler = &handle_exit_command,
+		.mode = COMMAND_ANY,
+		.usage = "",
+		.help = "exit (disconnect) telnet or Tcl session",
+	},
 	{
 		.name = "poll_period",
 		.handler = &handle_poll_period_command,
diff --git a/src/server/tcl_server.c b/src/server/tcl_server.c
index 16cc55e29..929fbee0c 100644
--- a/src/server/tcl_server.c
+++ b/src/server/tcl_server.c
@@ -230,12 +230,22 @@ static int tcl_input(struct connection *connection)
 #undef ESTR
 		} else {
 			tclc->tc_line[tclc->tc_lineoffset-1] = '\0';
-			command_run_line(connection->cmd_ctx, tclc->tc_line);
+			retval = command_run_line(connection->cmd_ctx, tclc->tc_line);
+
+			if (retval == ERROR_COMMAND_CLOSE_CONNECTION) {
+				/* "shutdown" or "exit" executed.
+				 * Send an empty response - just the response termination character.
+				 */
+				tcl_output(connection, "\x1a", 1);
+				return ERROR_SERVER_REMOTE_CLOSED;
+			}
+
 			result = Jim_GetString(Jim_GetResult(interp), &reslen);
 			retval = tcl_output(connection, result, reslen);
 			if (retval != ERROR_OK)
 				return retval;
-			/* Always output ctrl-z as end of line to allow multiline results */
+
+			/* Signal the end of response by a termination character (ctrl-z) */
 			tcl_output(connection, "\x1a", 1);
 		}
 
@@ -284,6 +294,15 @@ int tcl_init(void)
 	return add_service(&tcl_service_driver, tcl_port, CONNECTION_LIMIT_UNLIMITED, NULL);
 }
 
+bool tcl_is_from_tcl_session(struct command_context *cmd_ctx)
+{
+	if (!cmd_ctx->output_handler_priv)
+		return false;
+
+	struct connection *conn = (struct connection *)cmd_ctx->output_handler_priv;
+	return strcmp(conn->service->name, "tcl") == 0;
+}
+
 COMMAND_HANDLER(handle_tcl_port_command)
 {
 	return CALL_COMMAND_HANDLER(server_pipe_command, &tcl_port);
@@ -297,7 +316,7 @@ COMMAND_HANDLER(handle_tcl_notifications_command)
 	if (CMD_CTX->output_handler_priv)
 		connection = CMD_CTX->output_handler_priv;
 
-	if (connection && !strcmp(connection->service->name, "tcl")) {
+	if (connection && tcl_is_from_tcl_session(CMD_CTX)) {
 		tclc = connection->priv;
 		return CALL_COMMAND_HANDLER(handle_command_parse_bool, &tclc->tc_notify, "Target Notification output ");
 	} else {
@@ -314,7 +333,7 @@ COMMAND_HANDLER(handle_tcl_trace_command)
 	if (CMD_CTX->output_handler_priv)
 		connection = CMD_CTX->output_handler_priv;
 
-	if (connection && !strcmp(connection->service->name, "tcl")) {
+	if (connection && tcl_is_from_tcl_session(CMD_CTX)) {
 		tclc = connection->priv;
 		return CALL_COMMAND_HANDLER(handle_command_parse_bool, &tclc->tc_trace, "Target trace output ");
 	} else {
diff --git a/src/server/tcl_server.h b/src/server/tcl_server.h
index bee562ce8..f92656f9c 100644
--- a/src/server/tcl_server.h
+++ b/src/server/tcl_server.h
@@ -12,5 +12,6 @@
 int tcl_init(void);
 int tcl_register_commands(struct command_context *cmd_ctx);
 void tcl_service_free(void);
+bool tcl_is_from_tcl_session(struct command_context *ctx);
 
 #endif /* OPENOCD_SERVER_TCL_SERVER_H */
diff --git a/src/server/telnet_server.c b/src/server/telnet_server.c
index 3634a2a59..ea7f38fb8 100644
--- a/src/server/telnet_server.c
+++ b/src/server/telnet_server.c
@@ -519,6 +519,7 @@ static int telnet_exec_line(struct connection *connection)
 	t_con->prompt_visible = true;
 
 	if (retval == ERROR_COMMAND_CLOSE_CONNECTION)
+		/* "shutdown" or "exit" executed. */
 		return ERROR_SERVER_REMOTE_CLOSED;
 
 	/* the prompt is always placed at the line beginning */
@@ -967,16 +968,16 @@ int telnet_init(char *banner)
 	return ERROR_OK;
 }
 
+bool telnet_is_from_telnet_session(struct command_context *cmd_ctx)
+{
+	return cmd_ctx->output_handler == telnet_output;
+}
+
 COMMAND_HANDLER(handle_telnet_port_command)
 {
 	return CALL_COMMAND_HANDLER(server_pipe_command, &telnet_port);
 }
 
-COMMAND_HANDLER(handle_exit_command)
-{
-	return ERROR_COMMAND_CLOSE_CONNECTION;
-}
-
 static const struct command_registration telnet_subcommand_handlers[] = {
 	{
 		.name = "port",
@@ -991,13 +992,6 @@ static const struct command_registration telnet_subcommand_handlers[] = {
 };
 
 static const struct command_registration telnet_command_handlers[] = {
-	{
-		.name = "exit",
-		.handler = handle_exit_command,
-		.mode = COMMAND_ANY,
-		.usage = "",
-		.help = "exit telnet session",
-	},
 	{
 		.name = "telnet",
 		.chain = telnet_subcommand_handlers,
diff --git a/src/server/telnet_server.h b/src/server/telnet_server.h
index 313b529f0..a905b4199 100644
--- a/src/server/telnet_server.h
+++ b/src/server/telnet_server.h
@@ -54,5 +54,6 @@ struct telnet_service {
 int telnet_init(char *banner);
 int telnet_register_commands(struct command_context *command_context);
 void telnet_service_free(void);
+bool telnet_is_from_telnet_session(struct command_context *cmd_ctx);
 
 #endif /* OPENOCD_SERVER_TELNET_SERVER_H */