diff --git a/changelog/66249.fixed.md b/changelog/66249.fixed.md
new file mode 100644
index 00000000000..dac7b563a49
--- /dev/null
+++ b/changelog/66249.fixed.md
@@ -0,0 +1 @@
+Fix batch mode hang indefinitely in some scenarios
diff --git a/salt/cli/batch.py b/salt/cli/batch.py
index 2e43b0ee22b..3a648c02b86 100644
--- a/salt/cli/batch.py
+++ b/salt/cli/batch.py
@@ -83,7 +83,14 @@ class Batch:
                         )
                     break
                 if m is not None:
-                    fret.add(m)
+                    if "failed" in ret[m] and ret[m]["failed"] is True:
+                        log.debug(
+                            "minion '%s' failed test.ping - will be returned as a down minion",
+                            m,
+                        )
+                    else:
+                        fret.add(m)
+
         return (list(fret), ping_gen, nret.difference(fret))
 
     def get_bnum(self):
@@ -292,11 +299,12 @@ class Batch:
                         # We already know some minions didn't respond to the ping, so inform
                         # inform user attempt to run a job failed
                         salt.utils.stringutils.print_cli(
-                            "Minion '%s' failed to respond to job sent", minion
+                            f"Minion '{minion}' failed to respond to job sent"
                         )
 
                     if self.opts.get("failhard"):
                         failhard = True
+                    ret[minion] = data
                 else:
                     # If we are executing multiple modules with the same cmd,
                     # We use the highest retcode.