diff --git a/api/openapi-spec/swagger.json b/api/openapi-spec/swagger.json
index fa6d95cb91aa..6ac071811864 100644
--- a/api/openapi-spec/swagger.json
+++ b/api/openapi-spec/swagger.json
@@ -351,6 +351,10 @@
           "description": "Name is the name of the target",
           "type": "string"
         },
+        "onExit": {
+          "description": "OnExit is a template reference which is invoked at the end of the template, irrespective of the success, failure, or error of the primary template.",
+          "type": "string"
+        },
         "template": {
           "description": "Name of template to execute",
           "type": "string"
@@ -1330,6 +1334,7 @@
           "$ref": "#/definitions/io.argoproj.workflow.v1alpha1.ScriptTemplate"
         },
         "securityContext": {
+          "description": "SecurityContext holds pod-level security attributes and common container settings. Optional: Defaults to empty.  See type description for default values of each field.",
           "$ref": "#/definitions/io.k8s.api.core.v1.PodSecurityContext"
         },
         "serviceAccountName": {
@@ -1848,6 +1853,10 @@
           "description": "Name of the step",
           "type": "string"
         },
+        "onExit": {
+          "description": "OnExit is a template reference which is invoked at the end of the template, irrespective of the success, failure, or error of the primary template.",
+          "type": "string"
+        },
         "template": {
           "description": "Template is the name of the template to execute as the step",
           "type": "string"
diff --git a/examples/template-on-exit.yaml b/examples/template-on-exit.yaml
new file mode 100644
index 000000000000..f6191774ed8a
--- /dev/null
+++ b/examples/template-on-exit.yaml
@@ -0,0 +1,40 @@
+# Example showing a Step with an onExit template. The onExit template ("exitContainer")
+# will run after the parent ("whalesay"), regardless of if it fails or succeeds.
+# This is also similarly possible with DAG Tasks
+# 
+#   STEP                                        PODNAME                             DURATION  MESSAGE
+#   ✔ container-on-exit-m6wq5 (step-template)
+#   ├---✔ stepA (whalesay)                     container-on-exit-m6wq5-3072376347  4s
+#   ├-✔ stepA.onExit (exitContainer)           container-on-exit-m6wq5-2711812994  4s
+#   ├---✔ stepB (whalesay)                     container-on-exit-m6wq5-2803967195  5s
+#   └-✔ stepB.onExit (exitContainer)           container-on-exit-m6wq5-22494146    4s
+#
+# Template onExit containers work for all templates: DAG, Steps, Container, Script, Suspend, and Resource.
+
+apiVersion: argoproj.io/v1alpha1
+kind: Workflow
+metadata:
+  generateName: container-on-exit-
+spec:
+  entrypoint: step-template
+  templates:
+    - name: step-template
+      steps:
+        - - name: stepA
+            onExit: exitContainer
+            template: whalesay
+        - - name: stepB
+            onExit: exitContainer
+            template: whalesay
+
+    - name: whalesay
+      container:
+        image: docker/whalesay
+        command: [cowsay]
+        args: ["hello world"]
+
+    - name: exitContainer
+      container:
+        image: docker/whalesay
+        command: [cowsay]
+        args: ["goodbye world"]
diff --git a/pkg/apis/workflow/v1alpha1/generated.pb.go b/pkg/apis/workflow/v1alpha1/generated.pb.go
index 4ecc60801b93..21bdbd3b3434 100644
--- a/pkg/apis/workflow/v1alpha1/generated.pb.go
+++ b/pkg/apis/workflow/v1alpha1/generated.pb.go
@@ -1585,329 +1585,329 @@ func init() {
 }
 
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+	0x3f, 0x5b, 0x3a, 0xf5, 0xd1, 0xd1, 0x52, 0xe1, 0xe3, 0xa3, 0xa5, 0xc2, 0x27, 0x47, 0x4b, 0x85,
+	0x4f, 0x8f, 0x96, 0x0a, 0x3f, 0x39, 0x5a, 0x2a, 0xfc, 0xf1, 0x3f, 0x2d, 0x9d, 0xfa, 0xf5, 0x72,
+	0x84, 0xfb, 0x3f, 0x01, 0x00, 0x00, 0xff, 0xff, 0xd0, 0xb1, 0x41, 0x4c, 0x04, 0x55, 0x00, 0x00,
 }
 
 func (m *ArchiveStrategy) Marshal() (dAtA []byte, err error) {
@@ -2619,6 +2619,11 @@ func (m *DAGTask) MarshalToSizedBuffer(dAtA []byte) (int, error) {
 	_ = i
 	var l int
 	_ = l
+	i -= len(m.OnExit)
+	copy(dAtA[i:], m.OnExit)
+	i = encodeVarintGenerated(dAtA, i, uint64(len(m.OnExit)))
+	i--
+	dAtA[i] = 0x5a
 	if m.ContinueOn != nil {
 		{
 			size, err := m.ContinueOn.MarshalToSizedBuffer(dAtA[:i])
@@ -5295,6 +5300,11 @@ func (m *WorkflowStep) MarshalToSizedBuffer(dAtA []byte) (int, error) {
 	_ = i
 	var l int
 	_ = l
+	i -= len(m.OnExit)
+	copy(dAtA[i:], m.OnExit)
+	i = encodeVarintGenerated(dAtA, i, uint64(len(m.OnExit)))
+	i--
+	dAtA[i] = 0x5a
 	if m.ContinueOn != nil {
 		{
 			size, err := m.ContinueOn.MarshalToSizedBuffer(dAtA[:i])
@@ -5811,6 +5821,8 @@ func (m *DAGTask) Size() (n int) {
 		l = m.ContinueOn.Size()
 		n += 1 + l + sovGenerated(uint64(l))
 	}
+	l = len(m.OnExit)
+	n += 1 + l + sovGenerated(uint64(l))
 	return n
 }
 
@@ -6772,6 +6784,8 @@ func (m *WorkflowStep) Size() (n int) {
 		l = m.ContinueOn.Size()
 		n += 1 + l + sovGenerated(uint64(l))
 	}
+	l = len(m.OnExit)
+	n += 1 + l + sovGenerated(uint64(l))
 	return n
 }
 
@@ -7029,6 +7043,7 @@ func (this *DAGTask) String() string {
 		`WithSequence:` + strings.Replace(this.WithSequence.String(), "Sequence", "Sequence", 1) + `,`,
 		`When:` + fmt.Sprintf("%v", this.When) + `,`,
 		`ContinueOn:` + strings.Replace(this.ContinueOn.String(), "ContinueOn", "ContinueOn", 1) + `,`,
+		`OnExit:` + fmt.Sprintf("%v", this.OnExit) + `,`,
 		`}`,
 	}, "")
 	return s
@@ -7683,6 +7698,7 @@ func (this *WorkflowStep) String() string {
 		`WithSequence:` + strings.Replace(this.WithSequence.String(), "Sequence", "Sequence", 1) + `,`,
 		`When:` + fmt.Sprintf("%v", this.When) + `,`,
 		`ContinueOn:` + strings.Replace(this.ContinueOn.String(), "ContinueOn", "ContinueOn", 1) + `,`,
+		`OnExit:` + fmt.Sprintf("%v", this.OnExit) + `,`,
 		`}`,
 	}, "")
 	return s
@@ -10142,6 +10158,38 @@ func (m *DAGTask) Unmarshal(dAtA []byte) error {
 				return err
 			}
 			iNdEx = postIndex
+		case 11:
+			if wireType != 2 {
+				return fmt.Errorf("proto: wrong wireType = %d for field OnExit", wireType)
+			}
+			var stringLen uint64
+			for shift := uint(0); ; shift += 7 {
+				if shift >= 64 {
+					return ErrIntOverflowGenerated
+				}
+				if iNdEx >= l {
+					return io.ErrUnexpectedEOF
+				}
+				b := dAtA[iNdEx]
+				iNdEx++
+				stringLen |= uint64(b&0x7F) << shift
+				if b < 0x80 {
+					break
+				}
+			}
+			intStringLen := int(stringLen)
+			if intStringLen < 0 {
+				return ErrInvalidLengthGenerated
+			}
+			postIndex := iNdEx + intStringLen
+			if postIndex < 0 {
+				return ErrInvalidLengthGenerated
+			}
+			if postIndex > l {
+				return io.ErrUnexpectedEOF
+			}
+			m.OnExit = string(dAtA[iNdEx:postIndex])
+			iNdEx = postIndex
 		default:
 			iNdEx = preIndex
 			skippy, err := skipGenerated(dAtA[iNdEx:])
@@ -18904,6 +18952,38 @@ func (m *WorkflowStep) Unmarshal(dAtA []byte) error {
 				return err
 			}
 			iNdEx = postIndex
+		case 11:
+			if wireType != 2 {
+				return fmt.Errorf("proto: wrong wireType = %d for field OnExit", wireType)
+			}
+			var stringLen uint64
+			for shift := uint(0); ; shift += 7 {
+				if shift >= 64 {
+					return ErrIntOverflowGenerated
+				}
+				if iNdEx >= l {
+					return io.ErrUnexpectedEOF
+				}
+				b := dAtA[iNdEx]
+				iNdEx++
+				stringLen |= uint64(b&0x7F) << shift
+				if b < 0x80 {
+					break
+				}
+			}
+			intStringLen := int(stringLen)
+			if intStringLen < 0 {
+				return ErrInvalidLengthGenerated
+			}
+			postIndex := iNdEx + intStringLen
+			if postIndex < 0 {
+				return ErrInvalidLengthGenerated
+			}
+			if postIndex > l {
+				return io.ErrUnexpectedEOF
+			}
+			m.OnExit = string(dAtA[iNdEx:postIndex])
+			iNdEx = postIndex
 		default:
 			iNdEx = preIndex
 			skippy, err := skipGenerated(dAtA[iNdEx:])
diff --git a/pkg/apis/workflow/v1alpha1/generated.proto b/pkg/apis/workflow/v1alpha1/generated.proto
index 8a145fe22bef..d54ef3102a0b 100644
--- a/pkg/apis/workflow/v1alpha1/generated.proto
+++ b/pkg/apis/workflow/v1alpha1/generated.proto
@@ -215,6 +215,11 @@ message DAGTask {
   // ContinueOn makes argo to proceed with the following step even if this step fails.
   // Errors and Failed states can be specified
   optional ContinueOn continueOn = 10;
+
+  // OnExit is a template reference which is invoked at the end of the
+  // template, irrespective of the success, failure, or error of the
+  // primary template.
+  optional string onExit = 11;
 }
 
 // DAGTemplate is a template subtype for directed acyclic graph templates
@@ -750,6 +755,9 @@ message Template {
   // +patchMergeKey=ip
   repeated k8s.io.api.core.v1.HostAlias hostAliases = 29;
 
+  // SecurityContext holds pod-level security attributes and common container settings.
+  // Optional: Defaults to empty.  See type description for default values of each field.
+  // +optional
   optional k8s.io.api.core.v1.PodSecurityContext securityContext = 30;
 
   // PodSpecPatch holds strategic merge patch to apply against the pod spec. Allows parameterization of
@@ -1018,6 +1026,11 @@ message WorkflowStep {
   // ContinueOn makes argo to proceed with the following step even if this step fails.
   // Errors and Failed states can be specified
   optional ContinueOn continueOn = 9;
+
+  // OnExit is a template reference which is invoked at the end of the
+  // template, irrespective of the success, failure, or error of the
+  // primary template.
+  optional string onExit = 11;
 }
 
 // WorkflowTemplate is the definition of a workflow template resource
diff --git a/pkg/apis/workflow/v1alpha1/openapi_generated.go b/pkg/apis/workflow/v1alpha1/openapi_generated.go
index 63adf97a1d96..a4e5d8b58a43 100644
--- a/pkg/apis/workflow/v1alpha1/openapi_generated.go
+++ b/pkg/apis/workflow/v1alpha1/openapi_generated.go
@@ -727,6 +727,13 @@ func schema_pkg_apis_workflow_v1alpha1_DAGTask(ref common.ReferenceCallback) com
 							Ref:         ref("github.com/argoproj/argo/pkg/apis/workflow/v1alpha1.ContinueOn"),
 						},
 					},
+					"onExit": {
+						SchemaProps: spec.SchemaProps{
+							Description: "OnExit is a template reference which is invoked at the end of the template, irrespective of the success, failure, or error of the primary template.",
+							Type:        []string{"string"},
+							Format:      "",
+						},
+					},
 				},
 				Required: []string{"name", "template"},
 			},
@@ -2502,7 +2509,8 @@ func schema_pkg_apis_workflow_v1alpha1_Template(ref common.ReferenceCallback) co
 					},
 					"securityContext": {
 						SchemaProps: spec.SchemaProps{
-							Ref: ref("k8s.io/api/core/v1.PodSecurityContext"),
+							Description: "SecurityContext holds pod-level security attributes and common container settings. Optional: Defaults to empty.  See type description for default values of each field.",
+							Ref:         ref("k8s.io/api/core/v1.PodSecurityContext"),
 						},
 					},
 					"podSpecPatch": {
@@ -3396,6 +3404,13 @@ func schema_pkg_apis_workflow_v1alpha1_WorkflowStep(ref common.ReferenceCallback
 							Ref:         ref("github.com/argoproj/argo/pkg/apis/workflow/v1alpha1.ContinueOn"),
 						},
 					},
+					"onExit": {
+						SchemaProps: spec.SchemaProps{
+							Description: "OnExit is a template reference which is invoked at the end of the template, irrespective of the success, failure, or error of the primary template.",
+							Type:        []string{"string"},
+							Format:      "",
+						},
+					},
 				},
 			},
 		},
diff --git a/pkg/apis/workflow/v1alpha1/workflow_types.go b/pkg/apis/workflow/v1alpha1/workflow_types.go
index 99b413d335c6..21aaf48e3c96 100644
--- a/pkg/apis/workflow/v1alpha1/workflow_types.go
+++ b/pkg/apis/workflow/v1alpha1/workflow_types.go
@@ -395,7 +395,6 @@ type Template struct {
 	// SecurityContext holds pod-level security attributes and common container settings.
 	// Optional: Defaults to empty.  See type description for default values of each field.
 	// +optional
-
 	SecurityContext *apiv1.PodSecurityContext `json:"securityContext,omitempty" protobuf:"bytes,30,opt,name=securityContext"`
 
 	// PodSpecPatch holds strategic merge patch to apply against the pod spec. Allows parameterization of
@@ -613,6 +612,11 @@ type WorkflowStep struct {
 	// ContinueOn makes argo to proceed with the following step even if this step fails.
 	// Errors and Failed states can be specified
 	ContinueOn *ContinueOn `json:"continueOn,omitempty" protobuf:"bytes,9,opt,name=continueOn"`
+
+	// OnExit is a template reference which is invoked at the end of the
+	// template, irrespective of the success, failure, or error of the
+	// primary template.
+	OnExit string `json:"onExit,omitempty" protobuf:"bytes,11,opt,name=onExit"`
 }
 
 var _ TemplateHolder = &WorkflowStep{}
@@ -1217,6 +1221,11 @@ type DAGTask struct {
 	// ContinueOn makes argo to proceed with the following step even if this step fails.
 	// Errors and Failed states can be specified
 	ContinueOn *ContinueOn `json:"continueOn,omitempty" protobuf:"bytes,10,opt,name=continueOn"`
+
+	// OnExit is a template reference which is invoked at the end of the
+	// template, irrespective of the success, failure, or error of the
+	// primary template.
+	OnExit string `json:"onExit,omitempty" protobuf:"bytes,11,opt,name=onExit"`
 }
 
 var _ TemplateHolder = &DAGTask{}
diff --git a/workflow/controller/dag.go b/workflow/controller/dag.go
index 346b9751de5c..20e5048eba96 100644
--- a/workflow/controller/dag.go
+++ b/workflow/controller/dag.go
@@ -233,8 +233,8 @@ func (woc *wfOperationCtx) executeDAG(nodeName string, tmplCtx *templateresoluti
 	}
 
 	// kick off execution of each target task asynchronously
-	for _, taskNames := range targetTasks {
-		woc.executeDAGTask(dagCtx, taskNames)
+	for _, taskName := range targetTasks {
+		woc.executeDAGTask(dagCtx, taskName)
 	}
 
 	// check if we are still running any tasks in this dag and return early if we do
@@ -303,11 +303,18 @@ func (woc *wfOperationCtx) executeDAGTask(dagCtx *dagContext, taskName string) {
 	dagCtx.visited[taskName] = true
 
 	node := dagCtx.GetTaskNode(taskName)
+	task := dagCtx.getTask(taskName)
 	if node != nil && node.Completed() {
+		// Run the node's onExit node, if any. Only leaf nodes will have their onExit nodes executed here. Nodes that
+		// have dependencies will have their onExit nodes executed below
+		hasOnExitNode, onExitNode, err := woc.runOnExitNode(task.Name, task.OnExit, dagCtx.boundaryID)
+		if hasOnExitNode && (onExitNode == nil || !onExitNode.Completed() || err != nil) {
+			// The onExit node is either not complete or has errored out, return.
+			return
+		}
 		return
 	}
 	// Check if our dependencies completed. If not, recurse our parents executing them if necessary
-	task := dagCtx.getTask(taskName)
 	dependenciesCompleted := true
 	dependenciesSuccessful := true
 	nodeName := dagCtx.taskNodeName(taskName)
@@ -315,7 +322,16 @@ func (woc *wfOperationCtx) executeDAGTask(dagCtx *dagContext, taskName string) {
 		depNode := dagCtx.GetTaskNode(depName)
 		if depNode != nil {
 			if depNode.Completed() {
-				if !depNode.Successful() && !dagCtx.getTask(depName).ContinuesOn(depNode.Phase) {
+				depTask := dagCtx.getTask(depName)
+				// Run the node's onExit node, if any. Only nodes that have dependencies will have their onExit nodes
+				// executed here. Leaf nodes will have their onExit nodes executed above
+				hasOnExitNode, onExitNode, err := woc.runOnExitNode(depTask.Name, depTask.OnExit, dagCtx.boundaryID)
+				if hasOnExitNode && (onExitNode == nil || !onExitNode.Completed() || err != nil) {
+					// The onExit node is either not complete or has errored out, return.
+					return
+				}
+
+				if !depNode.Successful() && !depTask.ContinuesOn(depNode.Phase) {
 					dependenciesSuccessful = false
 				}
 				continue
diff --git a/workflow/controller/operator.go b/workflow/controller/operator.go
index 9ecead135640..18cd3d0e5548 100644
--- a/workflow/controller/operator.go
+++ b/workflow/controller/operator.go
@@ -1188,6 +1188,7 @@ func (woc *wfOperationCtx) executeTemplate(nodeName string, orgTmpl wfv1.Templat
 	woc.log.Debugf("Evaluating node %s: template: %s, boundaryID: %s", nodeName, common.GetTemplateHolderString(orgTmpl), boundaryID)
 
 	node := woc.getNodeByName(nodeName)
+
 	if node != nil {
 		if node.Completed() {
 			woc.log.Debugf("Node %s already completed", nodeName)
@@ -2138,3 +2139,13 @@ func (woc *wfOperationCtx) substituteParamsInVolumes(params map[string]string) e
 	woc.volumes = newVolumes
 	return nil
 }
+
+func (woc *wfOperationCtx) runOnExitNode(parentName, templateRef, boundaryID string) (bool, *wfv1.NodeStatus, error) {
+	if templateRef != "" {
+		woc.log.Infof("Running OnExit handler: %s", templateRef)
+		onExitNodeName := parentName + ".onExit"
+		onExitNode, err := woc.executeTemplate(onExitNodeName, &wfv1.Template{Template: templateRef}, woc.tmplCtx, woc.wf.Spec.Arguments, boundaryID)
+		return true, onExitNode, err
+	}
+	return false, nil, nil
+}
diff --git a/workflow/controller/operator_test.go b/workflow/controller/operator_test.go
index 927b107495bc..b8d87a895fd4 100644
--- a/workflow/controller/operator_test.go
+++ b/workflow/controller/operator_test.go
@@ -1935,6 +1935,61 @@ func TestWithParamAsJsonList(t *testing.T) {
 	assert.Equal(t, 4, len(pods.Items))
 }
 
+var stepsOnExit = `
+apiVersion: argoproj.io/v1alpha1
+kind: Workflow
+metadata:
+  name: steps-on-exit
+spec:
+  entrypoint: suspend
+  templates:
+  - name: suspend
+    steps:
+    - - name: leafA
+        onExit: exitContainer
+        template: whalesay
+    - - name: leafB
+        onExit: exitContainer
+        template: whalesay
+
+  - name: whalesay
+    container:
+      image: docker/whalesay
+      command: [cowsay]
+      args: ["hello world"]
+
+  - name: exitContainer
+    container:
+      image: docker/whalesay
+      command: [cowsay]
+      args: ["goodbye world"]
+`
+
+func TestStepsOnExit(t *testing.T) {
+	controller := newController()
+	wfcset := controller.wfclientset.ArgoprojV1alpha1().Workflows("")
+
+	// Test list expansion
+	wf := unmarshalWF(stepsOnExit)
+	wf, err := wfcset.Create(wf)
+	assert.Nil(t, err)
+	woc := newWorkflowOperationCtx(wf, controller)
+
+	woc.operate()
+	woc.operate()
+
+	wf, err = wfcset.Get(wf.ObjectMeta.Name, metav1.GetOptions{})
+	assert.Nil(t, err)
+	onExitNodeIsPresent := false
+	for _, node := range wf.Status.Nodes {
+		if strings.Contains(node.Name, "onExit") {
+			onExitNodeIsPresent = true
+			break
+		}
+	}
+	assert.True(t, onExitNodeIsPresent)
+}
+
 var testTemplateScopeWorkflowYaml = `
 apiVersion: argoproj.io/v1alpha1
 kind: Workflow
diff --git a/workflow/controller/steps.go b/workflow/controller/steps.go
index 25f316f2533c..8f9d3a80a57c 100644
--- a/workflow/controller/steps.go
+++ b/workflow/controller/steps.go
@@ -136,7 +136,6 @@ func (woc *wfOperationCtx) executeSteps(nodeName string, tmplCtx *templateresolu
 		node.Outputs = outputs
 		woc.wf.Status.Nodes[node.ID] = *node
 	}
-
 	_ = woc.markNodePhase(nodeName, wfv1.NodeSucceeded)
 	return node, nil
 }
@@ -234,11 +233,24 @@ func (woc *wfOperationCtx) executeStepGroup(stepGroup []wfv1.WorkflowStep, sgNod
 
 	node = woc.getNodeByName(sgNodeName)
 	// Return if not all children completed
+	completed := true
 	for _, childNodeID := range node.Children {
-		if !woc.wf.Status.Nodes[childNodeID].Completed() {
-			return node
+		childNode := woc.wf.Status.Nodes[childNodeID]
+		step := nodeSteps[childNode.Name]
+		if !childNode.Completed() {
+			completed = false
+		} else {
+			hasOnExitNode, onExitNode, err := woc.runOnExitNode(step.Name, step.OnExit, stepsCtx.boundaryID)
+			if hasOnExitNode && (onExitNode == nil || !onExitNode.Completed() || err != nil) {
+				// The onExit node is either not complete or has errored out, return.
+				completed = false
+			}
 		}
 	}
+	if !completed {
+		return node
+	}
+
 	// All children completed. Determine step group status as a whole
 	for _, childNodeID := range node.Children {
 		childNode := woc.wf.Status.Nodes[childNodeID]