diff --git a/sdk/servicebus/azure-servicebus/CHANGELOG.md b/sdk/servicebus/azure-servicebus/CHANGELOG.md
index a37af5f6a13a..19e5f7eb9134 100644
--- a/sdk/servicebus/azure-servicebus/CHANGELOG.md
+++ b/sdk/servicebus/azure-servicebus/CHANGELOG.md
@@ -7,6 +7,7 @@
 ### Breaking Changes
 
 ### Bugs Fixed
+- Fixed a bug that `azure.servicebus.aio.AutoLockRenewer` crashes on disposal if no messages have been registered (#19642).
 
 ### Other Changes
 
diff --git a/sdk/servicebus/azure-servicebus/azure/servicebus/aio/_async_auto_lock_renewer.py b/sdk/servicebus/azure-servicebus/azure/servicebus/aio/_async_auto_lock_renewer.py
index 9c54ba652926..7421fbae1687 100644
--- a/sdk/servicebus/azure-servicebus/azure/servicebus/aio/_async_auto_lock_renewer.py
+++ b/sdk/servicebus/azure-servicebus/azure/servicebus/aio/_async_auto_lock_renewer.py
@@ -233,4 +233,5 @@ def register(
     async def close(self) -> None:
         """Cease autorenewal by cancelling any remaining open lock renewal futures."""
         self._shutdown.set()
-        await asyncio.wait(self._futures)
+        if self._futures:
+            await asyncio.wait(self._futures)
diff --git a/sdk/servicebus/azure-servicebus/tests/async_tests/test_queues_async.py b/sdk/servicebus/azure-servicebus/tests/async_tests/test_queues_async.py
index 5dc475e3857f..0a27787742fb 100644
--- a/sdk/servicebus/azure-servicebus/tests/async_tests/test_queues_async.py
+++ b/sdk/servicebus/azure-servicebus/tests/async_tests/test_queues_async.py
@@ -782,6 +782,11 @@ async def test_async_queue_by_queue_client_conn_str_receive_handler_with_autoloc
                     message = ServiceBusMessage("{}".format(i))
                     await sender.send_messages(message)
 
+            # issue https://github.com/Azure/azure-sdk-for-python/issues/19642
+            empty_renewer = AutoLockRenewer()
+            async with empty_renewer:
+                pass
+
             renewer = AutoLockRenewer()
             messages = []
             async with sb_client.get_queue_receiver(servicebus_queue.name, max_wait_time=5, receive_mode=ServiceBusReceiveMode.PEEK_LOCK, prefetch_count=10) as receiver: