diff --git a/commons/zenoh-runtime/Cargo.toml b/commons/zenoh-runtime/Cargo.toml
index e3f0c7a3c0..cfb63b7e60 100644
--- a/commons/zenoh-runtime/Cargo.toml
+++ b/commons/zenoh-runtime/Cargo.toml
@@ -22,3 +22,4 @@ zenoh-result = { workspace = true, features = ["std"] }
 zenoh-collections = { workspace = true, features = ["std"] }
 zenoh-macros = { workspace = true }
 tokio = { workspace = true, features = ["fs", "io-util", "macros", "net", "rt-multi-thread", "sync", "time"] }
+tracing = { workspace = true }
diff --git a/commons/zenoh-runtime/src/lib.rs b/commons/zenoh-runtime/src/lib.rs
index 1a9d765420..cb58cac570 100644
--- a/commons/zenoh-runtime/src/lib.rs
+++ b/commons/zenoh-runtime/src/lib.rs
@@ -184,17 +184,42 @@ impl ZRuntimePool {
 // If there are any blocking tasks spawned by ZRuntimes, the function will block until they return.
 impl Drop for ZRuntimePool {
     fn drop(&mut self) {
+        std::panic::set_hook(Box::new(|_| {
+            // To suppress the panic error caught in the following `catch_unwind`.
+        }));
+
         let handles: Vec<_> = self
             .0
             .drain()
             .filter_map(|(_name, mut rt)| {
-                rt.take()
-                    .map(|r| std::thread::spawn(move || r.shutdown_timeout(Duration::from_secs(1))))
+                rt.take().map(|r| {
+                    // NOTE: The error of the atexit handler in DLL (static lib is fine)
+                    // failing to spawn a new thread in `cleanup` has been identified.
+                    std::panic::catch_unwind(|| {
+                        std::thread::spawn(move || r.shutdown_timeout(Duration::from_secs(1)))
+                    })
+                })
             })
             .collect();
 
         for hd in handles {
-            let _ = hd.join();
+            match hd {
+                Ok(handle) => {
+                    if let Err(err) = handle.join() {
+                        tracing::error!(
+                            "The handle failed to join during `ZRuntimePool` drop due to {err:?}"
+                        );
+                    }
+                }
+                Err(err) => {
+                    // WARN: Windows with DLL is expected to panic for the time being.
+                    // Otherwise, report the error.
+                    #[cfg(not(target_os = "windows"))]
+                    tracing::error!("`ZRuntimePool` failed to drop due to {err:?}");
+                    #[cfg(target_os = "windows")]
+                    tracing::trace!("`ZRuntimePool` failed to drop due to {err:?}");
+                }
+            }
         }
     }
 }