diff --git a/src/material-experimental/mdc-autocomplete/autocomplete.spec.ts b/src/material-experimental/mdc-autocomplete/autocomplete.spec.ts
index 621e2d69855e..92f2572e5506 100644
--- a/src/material-experimental/mdc-autocomplete/autocomplete.spec.ts
+++ b/src/material-experimental/mdc-autocomplete/autocomplete.spec.ts
@@ -2825,6 +2825,25 @@ describe('MDC-based MatAutocomplete', () => {
       expect(closedSpy).toHaveBeenCalledTimes(1);
     }));
 
+    it('should emit a closed event if no option is displayed', fakeAsync(() => {
+      const {openedSpy, closedSpy} = fixture.componentInstance;
+      const input: HTMLInputElement = fixture.nativeElement.querySelector('input');
+
+      typeInElement(input, 'Alabama'); // Valid option
+      fixture.detectChanges();
+      tick();
+
+      expect(openedSpy).toHaveBeenCalledTimes(1);
+      expect(closedSpy).toHaveBeenCalledTimes(0);
+
+      typeInElement(input, '_x'); // Invalidate option to 'Alabama_x'
+      fixture.detectChanges();
+      tick();
+
+      expect(openedSpy).toHaveBeenCalledTimes(1);
+      expect(closedSpy).toHaveBeenCalledTimes(1);
+    }));
+
     it(
       'should clear the input if the user presses escape while there was a pending ' +
         'auto selection and there is no previous value',
diff --git a/src/material/autocomplete/autocomplete-trigger.ts b/src/material/autocomplete/autocomplete-trigger.ts
index 50a205af693f..1ea94334949e 100644
--- a/src/material/autocomplete/autocomplete-trigger.ts
+++ b/src/material/autocomplete/autocomplete-trigger.ts
@@ -537,13 +537,20 @@ export abstract class _MatAutocompleteTriggerBase
 
               if (this.panelOpen) {
                 this._overlayRef!.updatePosition();
+              }
 
-                // If the `panelOpen` state changed, we need to make sure to emit the `opened`
-                // event, because we may not have emitted it when the panel was attached. This
-                // can happen if the users opens the panel and there are no options, but the
-                // options come in slightly later or as a result of the value changing.
-                if (wasOpen !== this.panelOpen) {
+              if (wasOpen !== this.panelOpen) {
+                // If the `panelOpen` state changed, we need to make sure to emit the `opened` or
+                // `closed` event, because we may not have emitted it. This can happen
+                // - if the users opens the panel and there are no options, but the
+                //   options come in slightly later or as a result of the value changing,
+                // - if the panel is closed after the user entered a string that did not match any
+                //   of the available options,
+                // - if a valid string is entered after an invalid one.
+                if (this.panelOpen) {
                   this.autocomplete.opened.emit();
+                } else {
+                  this.autocomplete.closed.emit();
                 }
               }
             });
diff --git a/src/material/autocomplete/autocomplete.spec.ts b/src/material/autocomplete/autocomplete.spec.ts
index ed41c3acbceb..a01b8ee0a8b0 100644
--- a/src/material/autocomplete/autocomplete.spec.ts
+++ b/src/material/autocomplete/autocomplete.spec.ts
@@ -2827,6 +2827,25 @@ describe('MatAutocomplete', () => {
       expect(closedSpy).toHaveBeenCalledTimes(1);
     }));
 
+    it('should emit a closed event if no option is displayed', fakeAsync(() => {
+      const {openedSpy, closedSpy} = fixture.componentInstance;
+      const input: HTMLInputElement = fixture.nativeElement.querySelector('input');
+
+      typeInElement(input, 'Alabama'); // Valid option
+      fixture.detectChanges();
+      tick();
+
+      expect(openedSpy).toHaveBeenCalledTimes(1);
+      expect(closedSpy).toHaveBeenCalledTimes(0);
+
+      typeInElement(input, '_x'); // Invalidate option to 'Alabama_x'
+      fixture.detectChanges();
+      tick();
+
+      expect(openedSpy).toHaveBeenCalledTimes(1);
+      expect(closedSpy).toHaveBeenCalledTimes(1);
+    }));
+
     it(
       'should clear the input if the user presses escape while there was a pending ' +
         'auto selection and there is no previous value',