Yogendra Shukla joined the Indian National Congress after his release and was elected vice-chairman of the Muzaffarpur District Congress Committee. He was also elected a member of the All India Congress Committee in 1938 but later joined the Congress Socialist Party at the instance of Jayaprakash Narayan. He was arrested in 1940, soon after he became a member of Central Committee of the All India Kisan Sabha in place of Swami Sahajanand Saraswati. When Mahatma Gandhi launched the Quit India Movement in August, 1942, Yogendra Shukla scaled the wall of Hazaribagh Central Jail along with Jayaprakash Narayan, Suraj Narayan Singh, Gulab Chand Gupta, Ramnandan Mishra and Shaligram Singh with a view to starting underground movement for freedom. As Jayaprakash Narayan was ill then, Shukla walked a distance to Gaya with Jayaprakash Narayan on his shoulders, a distance of about 124 kilometres. The British Government announced a reward of Rs. 5000 for the arrest of Shukla. He was arrested on 7 December 1942, at Muzaffarpur. The government believed that one day before his arrest Shukla had helped four prisoners escape from Muzaffarpur jail. They were Surajdeo Singh, Ram Babu Kalwar, Brahmanand Gupta and Ganesh Rai. Yogendra Shukla was lodged in Buxar Jail and kept in bar fetters for three years. In March 1944, he launched hunger-strike in the Buxar Jail. He was released in April, 1946. In 1958, he was nominated a member of the Bihar Legislative Council on behalf of the Praja Socialist Party and continued there till 1960. In 1960, he was taken seriously ill as a result of long years of prison life. He died on 19 November 1960.