diff --git a/docs/resources/changelog.md b/docs/resources/changelog.md
index 540d9ee13..22c064f73 100644
--- a/docs/resources/changelog.md
+++ b/docs/resources/changelog.md
@@ -18,6 +18,7 @@ _During the beta period, these restrictions may be relaxed in the event of a mis
 - Fixed a bug in `<sl-tree>` where dynamically changing slotted items wouldn't update the tree properly
 - Fixed a bug in `<sl-split-panel>` that caused the panel to stack when clicking on the divider in mobile versions of Chrome [#862](https://github.com/shoelace-style/shoelace/issues/862)
 - Fixed a bug in `<sl-popup>` that prevented flip fallbacks from working as intended
+- Fixed a bug that caused concurrent animations to work incorrectly when the durations were different [#867](https://github.com/shoelace-style/shoelace/issues/867)
 - Improved single selection in `<sl-tree>` so nodes expand and collapse and receive selection when clicking on the label
 - Renamed `expanded-icon` and `collapsed-icon` slots to `expand-icon` and `collapse-icon` in the experimental `<sl-tree>` and `<sl-tree-item>` components
 - Improved RTL support for `<sl-image-comparer>`
diff --git a/src/components/dialog/dialog.ts b/src/components/dialog/dialog.ts
index 9dcdbd71b..f297e73af 100644
--- a/src/components/dialog/dialog.ts
+++ b/src/components/dialog/dialog.ts
@@ -206,12 +206,25 @@ export default class SlDialog extends ShoelaceElement {
       await Promise.all([stopAnimations(this.dialog), stopAnimations(this.overlay)]);
       const panelAnimation = getAnimation(this, 'dialog.hide', { dir: this.localize.dir() });
       const overlayAnimation = getAnimation(this, 'dialog.overlay.hide', { dir: this.localize.dir() });
+
+      // Animate the overlay and the panel at the same time. Because animation durations might be different, we need to
+      // hide each one individually when the animation finishes, otherwise the first one that finishes will reappear
+      // unexpectedly. We'll unhide them after all animations have completed.
       await Promise.all([
-        animateTo(this.panel, panelAnimation.keyframes, panelAnimation.options),
-        animateTo(this.overlay, overlayAnimation.keyframes, overlayAnimation.options)
+        animateTo(this.overlay, overlayAnimation.keyframes, overlayAnimation.options).then(() => {
+          this.overlay.hidden = true;
+        }),
+        animateTo(this.panel, panelAnimation.keyframes, panelAnimation.options).then(() => {
+          this.panel.hidden = true;
+        })
       ]);
+
       this.dialog.hidden = true;
 
+      // Now that the dialog is hidden, restore the overlay and panel for next time
+      this.overlay.hidden = false;
+      this.panel.hidden = false;
+
       unlockBodyScrolling(this);
 
       // Restore focus to the original trigger
diff --git a/src/components/drawer/drawer.ts b/src/components/drawer/drawer.ts
index f4d555d06..ab8166b77 100644
--- a/src/components/drawer/drawer.ts
+++ b/src/components/drawer/drawer.ts
@@ -231,13 +231,25 @@ export default class SlDrawer extends ShoelaceElement {
         dir: this.localize.dir()
       });
       const overlayAnimation = getAnimation(this, 'drawer.overlay.hide', { dir: this.localize.dir() });
+
+      // Animate the overlay and the panel at the same time. Because animation durations might be different, we need to
+      // hide each one individually when the animation finishes, otherwise the first one that finishes will reappear
+      // unexpectedly. We'll unhide them after all animations have completed.
       await Promise.all([
-        animateTo(this.panel, panelAnimation.keyframes, panelAnimation.options),
-        animateTo(this.overlay, overlayAnimation.keyframes, overlayAnimation.options)
+        animateTo(this.overlay, overlayAnimation.keyframes, overlayAnimation.options).then(() => {
+          this.overlay.hidden = true;
+        }),
+        animateTo(this.panel, panelAnimation.keyframes, panelAnimation.options).then(() => {
+          this.panel.hidden = true;
+        })
       ]);
 
       this.drawer.hidden = true;
 
+      // Now that the dialog is hidden, restore the overlay and panel for next time
+      this.overlay.hidden = false;
+      this.panel.hidden = false;
+
       // Restore focus to the original trigger
       const trigger = this.originalTrigger;
       if (typeof trigger?.focus === 'function') {