diff --git a/include/boost/sml.hpp b/include/boost/sml.hpp
index 736e3bca..6ad7b5bf 100644
--- a/include/boost/sml.hpp
+++ b/include/boost/sml.hpp
@@ -1062,6 +1062,10 @@ struct internal_event {
 struct anonymous : internal_event {
   constexpr static auto c_str() { return "anonymous"; }
 };
+template <class TEvent>
+struct completion : internal_event {
+  constexpr static auto c_str() { return "completion"; }
+};
 template <class T, class TEvent = T>
 struct on_entry : internal_event, entry_exit {
   constexpr static auto c_str() { return "on_entry"; }
@@ -1497,6 +1501,9 @@ struct get_event_mapping_impl_helper<on_entry<T1, T2>, TMappings>
 template <class T1, class T2, class TMappings>
 struct get_event_mapping_impl_helper<on_exit<T1, T2>, TMappings>
     : decltype(get_event_mapping_impl<on_exit<T1, T2>>((TMappings *)0)) {};
+template <class TEvent, class TMappings>
+struct get_event_mapping_impl_helper<completion<TEvent>, TMappings>
+    : decltype(get_event_mapping_impl<completion<TEvent>>((TMappings *)0)) {};
 template <class TMappings>
 struct get_event_mapping_impl_helper<anonymous, TMappings> : decltype(get_event_mapping_impl<anonymous>((TMappings *)0)) {};
 template <class T, class TMappings>
@@ -1842,18 +1849,41 @@ struct sm_impl : aux::conditional_t<aux::should_not_subclass_statemachine_class<
     (void)lock;
     bool changed = false;
     state_t old = current_state_[0];
-    bool handled = process_internal_events(event, deps, subs);
+    bool handled = process_event_and_post_events<get_event_t<TEvent>>(event, deps, subs);
     bool queued_handled = true;
     do {
       do {
-        while (process_internal_events(anonymous{}, deps, subs)) {
-        }
         changed = (old != current_state_[0]);
         old = current_state_[0];
       } while (process_defer_events(deps, subs, changed, aux::type_wrapper<defer_queue_t<TEvent>>{}, events_t{}));
     } while (process_queued_events(deps, subs, queued_handled, aux::type_wrapper<process_queue_t<TEvent>>{}, events_t{}));
     return handled && queued_handled;
   }
+  template <class TOriginEvent, class TDeps, class TSubs>
+  constexpr bool process_completion_event(TDeps &deps, TSubs &subs, aux::true_type) {
+    return process_internal_events(completion<TOriginEvent>{}, deps, subs);
+  }
+  template <class TOriginEvent, class TDeps, class TSubs>
+  constexpr bool process_completion_event(TDeps &, TSubs &, aux::false_type) {
+    return false;
+  }
+  template <class TOriginEvent, class TDeps, class TSubs>
+  constexpr bool process_post_event_step(TDeps &deps, TSubs &subs) {
+    return process_completion_event<TOriginEvent>(
+               deps, subs, typename aux::is_base_of<completion<TOriginEvent>, events_ids_t>::type{}) ||
+           process_internal_events(anonymous{}, deps, subs);
+  }
+  template <class TOriginEvent, class TDeps, class TSubs>
+  constexpr void process_post_events(TDeps &deps, TSubs &subs) {
+    while (process_post_event_step<TOriginEvent>(deps, subs)) {
+    }
+  }
+  template <class TOriginEvent, class TEvent, class TDeps, class TSubs>
+  constexpr bool process_event_and_post_events(const TEvent &event, TDeps &deps, TSubs &subs) {
+    const bool handled = process_internal_events(event, deps, subs);
+    process_post_events<TOriginEvent>(deps, subs);
+    return handled;
+  }
   constexpr void initialize(const aux::type_list<> &) {}
   template <class TState>
   constexpr void initialize(const aux::type_list<TState> &) {
@@ -2027,7 +2057,7 @@ struct sm_impl : aux::conditional_t<aux::should_not_subclass_statemachine_class<
   template <class TDeps, class TSubs, class TEvent>
   constexpr bool process_event_no_defer(TDeps &deps, TSubs &subs, const void *data) {
     const auto &event = *static_cast<const TEvent *>(data);
-    bool handled = process_internal_events(event, deps, subs);
+    bool handled = process_event_and_post_events<get_event_t<TEvent>>(event, deps, subs);
     if (handled && defer_again_) {
       ++defer_it_;
     } else {
@@ -2068,13 +2098,7 @@ struct sm_impl : aux::conditional_t<aux::should_not_subclass_statemachine_class<
   template <class TDeps, class TSubs, class TEvent>
   constexpr bool process_event_no_queue(TDeps &deps, TSubs &subs, const void *data) {
     const auto &event = *static_cast<const TEvent *>(data);
-    policies::log_process_event<sm_t>(aux::type_wrapper<logger_t>{}, deps, event);
-#if BOOST_SML_DISABLE_EXCEPTIONS
-    return process_event_impl<get_event_mapping_t<TEvent, mappings>>(event, deps, subs, states_t{},
-                                                                     aux::make_index_sequence<regions>{});
-#else
-    return process_event_except_impl<get_event_mapping_t<TEvent, mappings>>(event, deps, subs, has_exceptions{});
-#endif
+    return process_event_and_post_events<get_event_t<TEvent>>(event, deps, subs);
   }
   template <class TDeps, class TSubs, class TDeferQueue, class... TEvents>
   bool process_queued_events(TDeps &deps, TSubs &subs, bool &queued_handled, const aux::type_wrapper<TDeferQueue> &, const aux::type_list<TEvents...> &) {
@@ -3229,6 +3253,8 @@ template <class TEvent>
 front::event<back::unexpected_event<TEvent>> unexpected_event __BOOST_SML_VT_INIT;
 template <class T>
 front::event<back::exception<T>> exception __BOOST_SML_VT_INIT;
+template <class TEvent>
+using completion = back::completion<TEvent>;
 using anonymous = back::anonymous;
 using initial = back::initial;
 #if !(defined(_MSC_VER) && !defined(__clang__))
diff --git a/test/ft/actions_process_n_defer.cpp b/test/ft/actions_process_n_defer.cpp
index 53cf62f5..f79fdb46 100644
--- a/test/ft/actions_process_n_defer.cpp
+++ b/test/ft/actions_process_n_defer.cpp
@@ -118,6 +118,80 @@ test process_n_defer_again = [] {
   expect(calls == "|s3_entry|e1|e1|e1");
 };
 
+test process_queue_runs_completion_for_popped_event_type = [] {
+  struct trigger {};
+  struct queued1 {};
+  struct queued2 {};
+  struct q0 {};
+  struct q1 {};
+  struct q2 {};
+  struct q3 {};
+  struct done {};
+  struct wrong {};
+
+  struct c {
+    auto operator()() const {
+      using namespace sml;
+      auto q0_state = state<q0>;
+      auto q1_state = state<q1>;
+      auto q2_state = state<q2>;
+      auto q3_state = state<q3>;
+      auto done_state = state<done>;
+      auto wrong_state = state<wrong>;
+      // clang-format off
+      return make_transition_table(
+        *q0_state + event<trigger> / (process(queued1{}), process(queued2{})) = q1_state
+        , q1_state + event<queued1> = q2_state
+        , q2_state + event<completion<queued1>> = q3_state
+        , q2_state + event<queued2> = wrong_state
+        , q3_state + event<queued2> = done_state
+      );
+      // clang-format on
+    }
+  };
+
+  sml::sm<c, sml::process_queue<std::queue>> sm{};
+  expect(sm.process_event(trigger{}));
+  expect(sm.is(sml::state<done>));
+  expect(!sm.is(sml::state<wrong>));
+};
+
+test defer_queue_runs_completion_for_popped_event_type = [] {
+  struct deferred {};
+  struct release {};
+  struct d0 {};
+  struct d1 {};
+  struct d2 {};
+  struct done {};
+  struct wrong {};
+
+  struct c {
+    auto operator()() const {
+      using namespace sml;
+      auto d0_state = state<d0>;
+      auto d1_state = state<d1>;
+      auto d2_state = state<d2>;
+      auto done_state = state<done>;
+      auto wrong_state = state<wrong>;
+      // clang-format off
+      return make_transition_table(
+        *d0_state + event<deferred> / defer
+        , d0_state + event<release> = d1_state
+        , d1_state + event<deferred> = d2_state
+        , d2_state + event<completion<deferred>> = done_state
+        , d2_state + event<completion<release>> = wrong_state
+      );
+      // clang-format on
+    }
+  };
+
+  sml::sm<c, sml::process_queue<std::queue>, sml::defer_queue<std::deque>> sm{};
+  expect(sm.process_event(deferred{}));
+  expect(sm.process_event(release{}));
+  expect(sm.is(sml::state<done>));
+  expect(!sm.is(sml::state<wrong>));
+};
+
 template <typename T>
 using MinimalStaticDeque10 = MinimalStaticDeque<T, 10>;
 
@@ -147,4 +221,4 @@ test mix_process_n_defer_at_init_static_queue = [] {
 
   sml::sm<c, sml::process_queue<MinimalStaticQueue10>, sml::defer_queue<MinimalStaticDeque10>> sm{};
   expect(sm.is(sml::X));
-};
\ No newline at end of file
+};
diff --git a/test/ft/transitions.cpp b/test/ft/transitions.cpp
index 47c30dcf..b8996ed8 100644
--- a/test/ft/transitions.cpp
+++ b/test/ft/transitions.cpp
@@ -88,6 +88,30 @@ test anonymous_transition = [] {
   expect(static_cast<const c&>(sm).a_called);
 };
 
+test completion_transition_runs_before_anonymous = [] {
+  struct c {
+    auto operator()() noexcept {
+      using namespace sml;
+      // clang-format off
+      return make_transition_table(
+         *idle + event<e1> = s1
+        ,s1 + event<completion<e1>> / [this] { calls += "completion|"; } = s2
+        ,s1 / [this] { calls += "anonymous_s1|"; } = s3
+        ,s2 / [this] { calls += "anonymous_s2|"; } = s4
+      );
+      // clang-format on
+    }
+
+    std::string calls{};
+  };
+
+  sml::sm<c> sm{};
+  expect(sm.process_event(e1{}));
+  expect(sm.is(s4));
+  expect(!sm.is(s3));
+  expect(static_cast<const c&>(sm).calls == "completion|anonymous_s2|");
+};
+
 test subsequent_anonymous_transitions = [] {
   struct c {
     auto operator()() noexcept {