diff --git a/include/nuttx/sched.h b/include/nuttx/sched.h
index a0eaaec2a10..d3504c0dda7 100644
--- a/include/nuttx/sched.h
+++ b/include/nuttx/sched.h
@@ -397,7 +397,6 @@ struct task_join_s
 {
   sq_entry_t     entry;                  /* Implements link list            */
   pid_t          pid;                    /* Includes pid                    */
-  bool           detached;               /* true: pthread_detached'ed       */
   pthread_addr_t exit_value;             /* Returned data                   */
 };
 
diff --git a/sched/pthread/pthread_completejoin.c b/sched/pthread/pthread_completejoin.c
index bcc3637c850..e7c60e0d8a5 100644
--- a/sched/pthread/pthread_completejoin.c
+++ b/sched/pthread/pthread_completejoin.c
@@ -95,12 +95,12 @@ int pthread_completejoin(pid_t pid, FAR void *exit_value)
           nxsem_post(&wtcb->join_sem);
         }
     }
-  else if (!sq_is_singular(&tcb->group->tg_members))
+  else if (!sq_is_singular(&tcb->group->tg_members) &&
+           (tcb->flags & TCB_FLAG_DETACHED) == 0)
     {
       ret = pthread_findjoininfo(tcb->group, pid, &join, true);
       if (ret == OK)
         {
-          join->detached = !!(tcb->flags & TCB_FLAG_DETACHED);
           join->exit_value = exit_value;
         }
     }
diff --git a/sched/pthread/pthread_detach.c b/sched/pthread/pthread_detach.c
index 48c6d09f2d2..9eac0625ded 100644
--- a/sched/pthread/pthread_detach.c
+++ b/sched/pthread/pthread_detach.c
@@ -71,16 +71,14 @@ int pthread_detach(pthread_t thread)
   nxrmutex_lock(&group->tg_joinlock);
 
   tcb = nxsched_get_tcb((pid_t)thread);
-  if (tcb == NULL)
+  if (tcb == NULL || (tcb->flags & TCB_FLAG_JOIN_COMPLETED) != 0)
     {
-      /* If tcb has been destroyed, update the pending join
-       * status in the group.
-       */
+      /* Destroy the join information */
 
       ret = pthread_findjoininfo(group, (pid_t)thread, &join, false);
       if (ret == OK)
         {
-          join->detached = true;
+          pthread_destroyjoin(group, join);
         }
       else
         {
diff --git a/sched/pthread/pthread_join.c b/sched/pthread/pthread_join.c
index 27422008bf3..6094fc4735f 100644
--- a/sched/pthread/pthread_join.c
+++ b/sched/pthread/pthread_join.c
@@ -89,26 +89,14 @@ int pthread_join(pthread_t thread, FAR pthread_addr_t *pexit_value)
       ret = pthread_findjoininfo(group, (pid_t)thread, &join, false);
       if (ret == OK)
         {
-          /* If the task is terminated, maintain the same behavior as Linux:
-           * 1. Join detached task will always return EINVAL.
-           * 2. Other threads will destroy the join information after
-           *    obtain the exit value, ESRCH will return if calling
-           *    pthread_join() again
-           */
+          /* Destroy the join information after obtain the exit value */
 
-          if (join->detached)
+          if (pexit_value != NULL)
             {
-              ret = EINVAL;
+              *pexit_value = join->exit_value;
             }
-          else
-            {
-              if (pexit_value != NULL)
-                {
-                  *pexit_value = join->exit_value;
-                }
 
-              pthread_destroyjoin(group, join);
-            }
+          pthread_destroyjoin(group, join);
         }
       else
         {