diff --git a/components/cascader/cascader.component.ts b/components/cascader/cascader.component.ts
index f2ae6654bd4..3c82b9941b7 100644
--- a/components/cascader/cascader.component.ts
+++ b/components/cascader/cascader.component.ts
@@ -734,6 +734,7 @@ export class NzCascaderComponent
     const options = this.cascaderService.activatedOptions;
     if (options.length) {
       options.pop(); // Remove the last one
+      this.cascaderService.setOptionDeactivatedSinceColumn(options.length); // collapse menu
     }
   }
 
@@ -790,6 +791,10 @@ export class NzCascaderComponent
     this.blur();
     this.clearDelayMenuTimer();
     this.setMenuVisible(false);
+    // if select none, clear previous state
+    if (!this.hasValue && this.cascaderService.columns.length) {
+      this.cascaderService.dropBehindColumns(0);
+    }
   }
 
   /**
diff --git a/components/cascader/cascader.service.ts b/components/cascader/cascader.service.ts
index 9a7179b4cd2..67587f6b9ed 100644
--- a/components/cascader/cascader.service.ts
+++ b/components/cascader/cascader.service.ts
@@ -358,8 +358,8 @@ export class NzCascaderService implements OnDestroy {
     if (!arraysEqual(existingOptions, options)) {
       options.forEach(o => (o.parent = parent));
       this.columns[columnIndex] = options;
-      this.dropBehindColumns(columnIndex);
     }
+    this.dropBehindColumns(columnIndex);
   }
 
   /**
@@ -377,7 +377,7 @@ export class NzCascaderService implements OnDestroy {
     this.activatedOptions = this.activatedOptions.splice(0, lastReserveIndex + 1);
   }
 
-  private dropBehindColumns(lastReserveIndex: number): void {
+  dropBehindColumns(lastReserveIndex: number): void {
     if (lastReserveIndex < this.columns.length - 1) {
       this.columns = this.columns.slice(0, lastReserveIndex + 1);
     }
diff --git a/components/cascader/cascader.spec.ts b/components/cascader/cascader.spec.ts
index bc86c3b1b79..89e5f377a6f 100644
--- a/components/cascader/cascader.spec.ts
+++ b/components/cascader/cascader.spec.ts
@@ -27,6 +27,7 @@ import { provideNoopAnimations } from '@angular/platform-browser/animations';
 import {
   createFakeEvent,
   createMouseEvent,
+  dispatchFakeEvent,
   dispatchKeyboardEvent,
   dispatchMouseEvent
 } from 'ng-zorro-antd/core/testing';
@@ -741,9 +742,9 @@ describe('cascader', () => {
       expect(testComponent.cascader.menuVisible).toBe(true);
       expect(getAllColumns().length).toBe(3);
 
-      const itemEl1 = getItemAtColumnAndRow(1, 1)!;
-      const itemEl2 = getItemAtColumnAndRow(2, 1)!;
-      const itemEl3 = getItemAtColumnAndRow(3, 1)!;
+      let itemEl1 = getItemAtColumnAndRow(1, 1)!;
+      let itemEl2 = getItemAtColumnAndRow(2, 1)!;
+      let itemEl3 = getItemAtColumnAndRow(3, 1)!;
 
       expect(itemEl1.classList).toContain('ant-cascader-menu-item-active');
       expect(itemEl2.classList).toContain('ant-cascader-menu-item-active');
@@ -755,14 +756,17 @@ describe('cascader', () => {
       fixture.detectChanges();
       dispatchKeyboardEvent(cascader.nativeElement, 'keydown', LEFT_ARROW);
       fixture.detectChanges();
-      expect(getAllColumns().length).toBe(3);
+      itemEl1 = getItemAtColumnAndRow(1, 1)!;
+      itemEl2 = getItemAtColumnAndRow(2, 1)!;
+      itemEl3 = getItemAtColumnAndRow(3, 1)!;
       expect(itemEl1.classList).not.toContain('ant-cascader-menu-item-active');
-      expect(itemEl2.classList).not.toContain('ant-cascader-menu-item-active');
-      expect(itemEl3.classList).not.toContain('ant-cascader-menu-item-active');
+      expect(itemEl2).toBeNull();
+      expect(itemEl3).toBeNull();
+      expect(getAllColumns().length).toBe(1);
       expect(testComponent.values!.join(',')).toBe('zhejiang,hangzhou,xihu');
 
+      itemEl1.click();
       const itemEl4 = getItemAtColumnAndRow(2, 2)!;
-
       itemEl4.click(); // 选中一个叶子
       fixture.detectChanges();
       tick(300);
@@ -870,6 +874,44 @@ describe('cascader', () => {
       expect(testComponent.cascader.menuVisible).toBe(false);
     }));
 
+    it('should init menu when selecting cancel', fakeAsync(() => {
+      // cancel select by ESCAPE
+      fixture.detectChanges();
+      testComponent.cascader.setMenuVisible(true);
+      let itemEl1 = getItemAtColumnAndRow(1, 1)!;
+      itemEl1.click();
+      let itemEl2 = getItemAtColumnAndRow(2, 1)!;
+      itemEl2.click();
+      let itemEl3 = getItemAtColumnAndRow(3, 1)!;
+      expect(itemEl1.classList).toContain('ant-cascader-menu-item-active');
+      expect(itemEl2.classList).toContain('ant-cascader-menu-item-active');
+      expect(itemEl3.classList).not.toContain('ant-cascader-menu-item-active');
+      dispatchKeyboardEvent(cascader.nativeElement, 'keydown', ESCAPE);
+      fixture.detectChanges();
+      flush();
+      fixture.detectChanges();
+      expect(testComponent.cascader.menuVisible).toBe(false);
+      expect(testComponent.cascader.cascaderService.columns.length).toBe(1);
+
+      // cancel select by clicking outside
+      fixture.detectChanges();
+      testComponent.cascader.setMenuVisible(true);
+      itemEl1 = getItemAtColumnAndRow(1, 1)!;
+      itemEl1.click();
+      itemEl2 = getItemAtColumnAndRow(2, 1)!;
+      itemEl2.click();
+      itemEl3 = getItemAtColumnAndRow(3, 1)!;
+      expect(itemEl1.classList).toContain('ant-cascader-menu-item-active');
+      expect(itemEl2.classList).toContain('ant-cascader-menu-item-active');
+      expect(itemEl3.classList).not.toContain('ant-cascader-menu-item-active');
+      dispatchFakeEvent(document.body, 'click');
+      fixture.detectChanges();
+      flush();
+      fixture.detectChanges();
+      expect(testComponent.cascader.menuVisible).toBe(false);
+      expect(testComponent.cascader.cascaderService.columns.length).toBe(1);
+    }));
+
     it('should nzBackdrop works', fakeAsync(() => {
       testComponent.nzBackdrop = true;
       fixture.detectChanges();
@@ -941,9 +983,9 @@ describe('cascader', () => {
       fixture.detectChanges();
       expect(getAllColumns().length).toBe(3);
 
-      const itemEl1 = getItemAtColumnAndRow(1, 1)!;
-      const itemEl2 = getItemAtColumnAndRow(2, 1)!;
-      const itemEl3 = getItemAtColumnAndRow(3, 1)!;
+      let itemEl1 = getItemAtColumnAndRow(1, 1)!;
+      let itemEl2 = getItemAtColumnAndRow(2, 1)!;
+      let itemEl3 = getItemAtColumnAndRow(3, 1)!;
       expect(itemEl1.classList).toContain('ant-cascader-menu-item-active');
       expect(itemEl2.classList).toContain('ant-cascader-menu-item-active');
       expect(itemEl3.classList).toContain('ant-cascader-menu-item-active');
@@ -954,14 +996,17 @@ describe('cascader', () => {
       expect(itemEl3.classList).not.toContain('ant-cascader-menu-item-active');
       dispatchKeyboardEvent(cascader.nativeElement, 'keydown', LEFT_ARROW);
       fixture.detectChanges();
+      itemEl3 = getItemAtColumnAndRow(3, 1)!;
       expect(itemEl1.classList).toContain('ant-cascader-menu-item-active');
       expect(itemEl2.classList).not.toContain('ant-cascader-menu-item-active');
-      expect(itemEl3.classList).not.toContain('ant-cascader-menu-item-active');
+      expect(itemEl3).toBeNull();
+      expect(getAllColumns().length).toBe(2);
       dispatchKeyboardEvent(cascader.nativeElement, 'keydown', LEFT_ARROW);
       fixture.detectChanges();
+      itemEl2 = getItemAtColumnAndRow(2, 1)!;
       expect(itemEl1.classList).not.toContain('ant-cascader-menu-item-active');
-      expect(itemEl2.classList).not.toContain('ant-cascader-menu-item-active');
-      expect(itemEl3.classList).not.toContain('ant-cascader-menu-item-active');
+      expect(itemEl2).toBeNull();
+      expect(getAllColumns().length).toBe(1);
     }));
 
     it('should select option when press ENTER', fakeAsync(() => {