diff --git a/src/agents/voice/result.py b/src/agents/voice/result.py
index fea79902e..3161da0fb 100644
--- a/src/agents/voice/result.py
+++ b/src/agents/voice/result.py
@@ -243,24 +243,54 @@ async def _wait_for_completion(self):
             tasks.append(self._dispatcher_task)
         await asyncio.gather(*tasks)
 
-    def _cleanup_tasks(self):
+    async def _cleanup_tasks(self):
+        """Cancel all pending tasks and wait for them to complete.
+
+        This ensures that any exceptions raised by the tasks are properly handled
+        and prevents warnings about unhandled task exceptions.
+        """
         self._finish_turn()
 
+        tasks = []
         for task in self._tasks:
             if not task.done():
                 task.cancel()
+            if isinstance(task, asyncio.Task):
+                tasks.append(task)
 
         if self._dispatcher_task and not self._dispatcher_task.done():
             self._dispatcher_task.cancel()
+            if isinstance(self._dispatcher_task, asyncio.Task):
+                tasks.append(self._dispatcher_task)
 
         if self.text_generation_task and not self.text_generation_task.done():
             self.text_generation_task.cancel()
+            if isinstance(self.text_generation_task, asyncio.Task):
+                tasks.append(self.text_generation_task)
+
+        # Wait for all cancelled tasks to complete and collect exceptions
+        if tasks:
+            results = await asyncio.gather(*tasks, return_exceptions=True)
+            # Check if any task failed with a real exception (not CancelledError)
+            # This catches exceptions that occurred after _check_errors() but before cancellation
+            if not self._stored_exception:
+                for result in results:
+                    is_exception = isinstance(result, Exception)
+                    is_not_cancelled = not isinstance(result, asyncio.CancelledError)
+                    if is_exception and is_not_cancelled:
+                        self._stored_exception = result
+                        break
 
     def _check_errors(self):
+        """Check for exceptions in completed tasks.
+
+        Note: task.cancelled() check ensures CancelledError is never raised.
+        """
         for task in self._tasks:
-            if task.done():
-                if task.exception():
-                    self._stored_exception = task.exception()
+            if task.done() and not task.cancelled():
+                exc = task.exception()
+                if exc:
+                    self._stored_exception = exc
                     break
 
     async def stream(self) -> AsyncIterator[VoiceStreamEvent]:
@@ -281,7 +311,7 @@ async def stream(self) -> AsyncIterator[VoiceStreamEvent]:
                 break
 
         self._check_errors()
-        self._cleanup_tasks()
+        await self._cleanup_tasks()
 
         if self._stored_exception:
             raise self._stored_exception