diff --git a/selfdrive/modeld/modeld.cc b/selfdrive/modeld/modeld.cc
index e5cbc02223..5b07ba2636 100644
--- a/selfdrive/modeld/modeld.cc
+++ b/selfdrive/modeld/modeld.cc
@@ -231,6 +231,8 @@ int main(int argc, char **argv) {
   LOG("joining live_thread");
   err = pthread_join(live_thread_handle, NULL);
   assert(err == 0);
+  clReleaseCommandQueue(q);
+  clReleaseContext(context);
 
   return 0;
 }
diff --git a/selfdrive/modeld/models/commonmodel.c b/selfdrive/modeld/models/commonmodel.c
index db990af0cb..1b93718c88 100644
--- a/selfdrive/modeld/models/commonmodel.c
+++ b/selfdrive/modeld/models/commonmodel.c
@@ -55,6 +55,10 @@ float *frame_prepare(ModelFrame* frame, cl_command_queue q,
 void frame_free(ModelFrame* frame) {
   transform_destroy(&frame->transform);
   loadyuv_destroy(&frame->loadyuv);
+  clReleaseMemObject(frame->net_input);
+  clReleaseMemObject(frame->transformed_v_cl);
+  clReleaseMemObject(frame->transformed_u_cl);
+  clReleaseMemObject(frame->transformed_y_cl);
 }