diff --git a/drivers/stepper/h_bridge_stepper.c b/drivers/stepper/h_bridge_stepper.c
index 6cd866317856b..a2f31afe8805b 100644
--- a/drivers/stepper/h_bridge_stepper.c
+++ b/drivers/stepper/h_bridge_stepper.c
@@ -189,6 +189,15 @@ static int h_bridge_stepper_move_by(const struct device *dev, int32_t micro_step
 		LOG_ERR("Step interval not set or invalid step interval set");
 		return -EINVAL;
 	}
+
+	if (micro_steps == 0) {
+		(void)k_work_cancel_delayable(&data->stepper_dwork);
+		if (data->callback) {
+			data->callback(data->dev, STEPPER_EVENT_STEPS_COMPLETED,
+				       data->event_cb_user_data);
+		}
+		return 0;
+	}
 	K_SPINLOCK(&data->lock) {
 		data->run_mode = STEPPER_RUN_MODE_POSITION;
 		data->step_count = micro_steps;
diff --git a/drivers/stepper/step_dir/step_dir_stepper_common.c b/drivers/stepper/step_dir/step_dir_stepper_common.c
index 25a72916f58a1..30c76577fd9d3 100644
--- a/drivers/stepper/step_dir/step_dir_stepper_common.c
+++ b/drivers/stepper/step_dir/step_dir_stepper_common.c
@@ -11,7 +11,6 @@ LOG_MODULE_REGISTER(step_dir_stepper, CONFIG_STEPPER_LOG_LEVEL);
 static inline int step_dir_stepper_perform_step(const struct device *dev)
 {
 	const struct step_dir_stepper_common_config *config = dev->config;
-	struct step_dir_stepper_common_data *data = dev->data;
 	int ret;
 
 	ret = gpio_pin_toggle_dt(&config->step_pin);
@@ -28,12 +27,6 @@ static inline int step_dir_stepper_perform_step(const struct device *dev)
 		}
 	}
 
-	if (data->direction == STEPPER_DIRECTION_POSITIVE) {
-		data->actual_position++;
-	} else {
-		data->actual_position--;
-	}
-
 	return 0;
 }
 
@@ -120,15 +113,10 @@ static void stepper_work_event_handler(struct k_work *work)
 
 static void update_remaining_steps(struct step_dir_stepper_common_data *data)
 {
-	const struct step_dir_stepper_common_config *config = data->dev->config;
-
-	if (data->step_count > 0) {
-		data->step_count--;
-	} else if (data->step_count < 0) {
-		data->step_count++;
-	} else {
-		stepper_trigger_callback(data->dev, STEPPER_EVENT_STEPS_COMPLETED);
-		config->timing_source->stop(data->dev);
+	if (atomic_get(&data->step_count) > 0) {
+		atomic_dec(&data->step_count);
+	} else if (atomic_get(&data->step_count) < 0) {
+		atomic_inc(&data->step_count);
 	}
 }
 
@@ -136,9 +124,9 @@ static void update_direction_from_step_count(const struct device *dev)
 {
 	struct step_dir_stepper_common_data *data = dev->data;
 
-	if (data->step_count > 0) {
+	if (atomic_get(&data->step_count) > 0) {
 		data->direction = STEPPER_DIRECTION_POSITIVE;
-	} else if (data->step_count < 0) {
+	} else if (atomic_get(&data->step_count) < 0) {
 		data->direction = STEPPER_DIRECTION_NEGATIVE;
 	} else {
 		LOG_ERR("Step count is zero");
@@ -150,23 +138,20 @@ static void position_mode_task(const struct device *dev)
 	struct step_dir_stepper_common_data *data = dev->data;
 	const struct step_dir_stepper_common_config *config = dev->config;
 
-	if (data->step_count) {
-		(void)step_dir_stepper_perform_step(dev);
-	}
+	update_remaining_steps(dev->data);
 
-	if (config->timing_source->needs_reschedule(dev) && data->step_count != 0) {
+	if (config->timing_source->needs_reschedule(dev) && atomic_get(&data->step_count) != 0) {
 		(void)config->timing_source->start(dev);
+	} else if (atomic_get(&data->step_count) == 0) {
+		stepper_trigger_callback(data->dev, STEPPER_EVENT_STEPS_COMPLETED);
+		config->timing_source->stop(data->dev);
 	}
-
-	update_remaining_steps(dev->data);
 }
 
 static void velocity_mode_task(const struct device *dev)
 {
 	const struct step_dir_stepper_common_config *config = dev->config;
 
-	(void)step_dir_stepper_perform_step(dev);
-
 	if (config->timing_source->needs_reschedule(dev)) {
 		(void)config->timing_source->start(dev);
 	}
@@ -176,18 +161,23 @@ void stepper_handle_timing_signal(const struct device *dev)
 {
 	struct step_dir_stepper_common_data *data = dev->data;
 
-	K_SPINLOCK(&data->lock) {
-		switch (data->run_mode) {
-		case STEPPER_RUN_MODE_POSITION:
-			position_mode_task(dev);
-			break;
-		case STEPPER_RUN_MODE_VELOCITY:
-			velocity_mode_task(dev);
-			break;
-		default:
-			LOG_WRN("Unsupported run mode: %d", data->run_mode);
-			break;
-		}
+	(void)step_dir_stepper_perform_step(dev);
+	if (data->direction == STEPPER_DIRECTION_POSITIVE) {
+		atomic_inc(&data->actual_position);
+	} else {
+		atomic_dec(&data->actual_position);
+	}
+
+	switch (data->run_mode) {
+	case STEPPER_RUN_MODE_POSITION:
+		position_mode_task(dev);
+		break;
+	case STEPPER_RUN_MODE_VELOCITY:
+		velocity_mode_task(dev);
+		break;
+	default:
+		LOG_WRN("Unsupported run mode: %d", data->run_mode);
+		break;
 	}
 }
 
@@ -243,9 +233,15 @@ int step_dir_stepper_common_move_by(const struct device *dev, const int32_t micr
 		return -EINVAL;
 	}
 
+	if (micro_steps == 0) {
+		stepper_trigger_callback(data->dev, STEPPER_EVENT_STEPS_COMPLETED);
+		config->timing_source->stop(dev);
+		return 0;
+	}
+
 	K_SPINLOCK(&data->lock) {
 		data->run_mode = STEPPER_RUN_MODE_POSITION;
-		data->step_count = micro_steps;
+		atomic_set(&data->step_count, micro_steps);
 		update_direction_from_step_count(dev);
 		ret = update_dir_pin(dev);
 		if (ret < 0) {
@@ -259,7 +255,7 @@ int step_dir_stepper_common_move_by(const struct device *dev, const int32_t micr
 }
 
 int step_dir_stepper_common_set_microstep_interval(const struct device *dev,
-					      const uint64_t microstep_interval_ns)
+						   const uint64_t microstep_interval_ns)
 {
 	struct step_dir_stepper_common_data *data = dev->data;
 	const struct step_dir_stepper_common_config *config = dev->config;
@@ -292,9 +288,7 @@ int step_dir_stepper_common_get_actual_position(const struct device *dev, int32_
 {
 	struct step_dir_stepper_common_data *data = dev->data;
 
-	K_SPINLOCK(&data->lock) {
-		*value = data->actual_position;
-	}
+	*value = atomic_get(&data->actual_position);
 
 	return 0;
 }
@@ -305,9 +299,7 @@ int step_dir_stepper_common_move_to(const struct device *dev, const int32_t valu
 	int32_t steps_to_move;
 
 	/* Calculate the relative movement required */
-	K_SPINLOCK(&data->lock) {
-		steps_to_move = value - data->actual_position;
-	}
+	steps_to_move = value - atomic_get(&data->actual_position);
 
 	return step_dir_stepper_common_move_by(dev, steps_to_move);
 }
diff --git a/drivers/stepper/step_dir/step_dir_stepper_common.h b/drivers/stepper/step_dir/step_dir_stepper_common.h
index b345cf5d68a5d..0bcea64487988 100644
--- a/drivers/stepper/step_dir/step_dir_stepper_common.h
+++ b/drivers/stepper/step_dir/step_dir_stepper_common.h
@@ -71,9 +71,9 @@ struct step_dir_stepper_common_data {
 	struct k_spinlock lock;
 	enum stepper_direction direction;
 	enum stepper_run_mode run_mode;
-	int32_t actual_position;
 	uint64_t microstep_interval_ns;
-	int32_t step_count;
+	atomic_t actual_position;
+	atomic_t step_count;
 	stepper_event_callback_t callback;
 	void *event_cb_user_data;
 
diff --git a/tests/drivers/stepper/stepper_api/src/main.c b/tests/drivers/stepper/stepper_api/src/main.c
index 9a2a1179b50c2..5c058f0e101f3 100644
--- a/tests/drivers/stepper/stepper_api/src/main.c
+++ b/tests/drivers/stepper/stepper_api/src/main.c
@@ -72,6 +72,9 @@ static void *stepper_setup(void)
 			  &stepper_signal);
 
 	zassert_not_null(fixture.dev);
+	zassert_equal(
+		stepper_set_event_callback(fixture.dev, fixture.callback, (void *)fixture.dev), 0,
+		"Failed to set event callback");
 	(void)stepper_enable(fixture.dev);
 	return &fixture;
 }
@@ -131,12 +134,9 @@ ZTEST_F(stepper, test_target_position_w_fixed_step_interval)
 	int ret;
 
 	ret = stepper_set_microstep_interval(fixture->dev, 100 * USEC_PER_SEC);
-
 	if (ret == -ENOSYS) {
 		ztest_test_skip();
 	}
-	/* Pass the function name as user data */
-	(void)stepper_set_event_callback(fixture->dev, fixture->callback, (void *)fixture->dev);
 
 	(void)stepper_move_to(fixture->dev, pos);
 
@@ -154,7 +154,6 @@ ZTEST_F(stepper, test_move_by_positive_step_count)
 	int32_t steps = 20;
 
 	(void)stepper_set_microstep_interval(fixture->dev, 100 * USEC_PER_SEC);
-	(void)stepper_set_event_callback(fixture->dev, fixture->callback, (void *)fixture->dev);
 	(void)stepper_move_by(fixture->dev, steps);
 
 	POLL_AND_CHECK_SIGNAL(
@@ -169,7 +168,6 @@ ZTEST_F(stepper, test_move_by_negative_step_count)
 	int32_t steps = -20;
 
 	(void)stepper_set_microstep_interval(fixture->dev, 100 * USEC_PER_SEC);
-	(void)stepper_set_event_callback(fixture->dev, fixture->callback, (void *)fixture->dev);
 	(void)stepper_move_by(fixture->dev, steps);
 
 	POLL_AND_CHECK_SIGNAL(
@@ -181,8 +179,6 @@ ZTEST_F(stepper, test_move_by_negative_step_count)
 
 ZTEST_F(stepper, test_stop)
 {
-	(void)stepper_set_event_callback(fixture->dev, fixture->callback, (void *)fixture->dev);
-
 	/* Run the stepper in positive direction */
 	(void)stepper_run(fixture->dev, STEPPER_DIRECTION_POSITIVE);
 
@@ -206,3 +202,22 @@ ZTEST_F(stepper, test_stop)
 		zassert_unreachable("Stepper stop failed");
 	}
 }
+
+ZTEST_F(stepper, test_move_by_zero_steps)
+{
+	bool is_moving;
+	int err;
+
+	err = stepper_set_microstep_interval(fixture->dev, 100 * USEC_PER_SEC);
+	if (err == -ENOSYS) {
+		ztest_test_skip();
+	}
+	zassert_equal(err, 0, "Failed to set microstep interval");
+
+	zassert_equal(stepper_move_by(fixture->dev, 0), 0, "Failed to move by zero steps");
+	POLL_AND_CHECK_SIGNAL(stepper_signal, stepper_event, STEPPER_EVENT_STEPS_COMPLETED,
+			      K_NO_WAIT);
+	zassert_equal(stepper_is_moving(fixture->dev, &is_moving), 0,
+		      "Failed to check if stepper is moving");
+	zassert_equal(is_moving, false, "Stepper is still moving");
+}