diff --git a/src/cmd/cmdsim.rb.in b/src/cmd/cmdsim.rb.in
index 866dc83ca5..767738ad16 100755
--- a/src/cmd/cmdsim.rb.in
+++ b/src/cmd/cmdsim.rb.in
@@ -554,9 +554,19 @@ See https://github.com/gazebosim/gz-sim/issues/168 for more info."
                           options['render_engine_gui_api_backend'])
         end
 
-        Signal.trap("INT") {
+        # Handle SIGINT and SIGTERM signals
+        def handle_signal(guiPid, serverPid)
           self.killProcess(guiPid, "Gazebo Sim GUI", 5.0)
           self.killProcess(serverPid, "Gazebo Sim Server", 5.0)
+        end
+
+        Signal.trap("INT") {
+          handle_signal(guiPid, serverPid)
+          return 1
+        }
+
+        Signal.trap("TERM") {
+          handle_signal(guiPid, serverPid)
           return 1
         }