diff --git a/src/cluster_legacy.c b/src/cluster_legacy.c
index 6368228eff..5e7dcb00ba 100644
--- a/src/cluster_legacy.c
+++ b/src/cluster_legacy.c
@@ -5246,6 +5246,13 @@ void clusterSetPrimary(clusterNode *n, int closeSlots) {
     replicationSetPrimary(n->ip, getNodeDefaultReplicationPort(n));
     removeAllNotOwnedShardChannelSubscriptions();
     resetManualFailover();
+
+    if (server.cluster->failover_auth_time) {
+        /* Since we have changed to a new primary node, the previously set
+         * failover_auth_time should no longer be used, whether it is in
+         * progress or timed out. */
+        server.cluster->failover_auth_time = 0;
+    }
 }
 
 /* -----------------------------------------------------------------------------
diff --git a/tests/support/util.tcl b/tests/support/util.tcl
index a8948338ea..2e2c70f205 100644
--- a/tests/support/util.tcl
+++ b/tests/support/util.tcl
@@ -176,7 +176,16 @@ proc verify_log_message {srv_idx pattern from_line} {
     incr from_line
     set result [exec tail -n +$from_line < [srv $srv_idx stdout]]
     if {![string match $pattern $result]} {
-        error "assertion:expected message not found in log file: $pattern"
+        fail "expected message not found in log file: $pattern"
+    }
+}
+
+# verify pattern does not exists in server's stout after a certain line number
+proc verify_no_log_message {srv_idx pattern from_line} {
+    incr from_line
+    set result [exec tail -n +$from_line < [srv $srv_idx stdout]]
+    if {[string match $pattern $result]} {
+        fail "expected message found in log file: $pattern"
     }
 }
 
diff --git a/tests/unit/cluster/failover2.tcl b/tests/unit/cluster/failover2.tcl
new file mode 100644
index 0000000000..7bc6a05e95
--- /dev/null
+++ b/tests/unit/cluster/failover2.tcl
@@ -0,0 +1,66 @@
+# Check the basic monitoring and failover capabilities.
+
+start_cluster 3 4 {tags {external:skip cluster} overrides {cluster-ping-interval 1000 cluster-node-timeout 5000}} {
+
+    test "Cluster is up" {
+        wait_for_cluster_state ok
+    }
+
+    test "Cluster is writable" {
+        cluster_write_test [srv 0 port]
+    }
+
+    set paused_pid [srv 0 pid]
+    test "Killing one primary node" {
+        pause_process $paused_pid
+    }
+
+    test "Wait for failover" {
+        wait_for_condition 1000 50 {
+            [s -3 role] == "master" || [s -6 role] == "master"
+        } else {
+            fail "No failover detected"
+        }
+    }
+
+    test "Killing the new primary node" {
+        if {[s -3 role] == "master"} {
+            set replica_to_be_primary -6
+            set paused_pid2 [srv -3 pid]
+        } else {
+            set replica_to_be_primary -3
+            set paused_pid2 [srv -6 pid]
+        }
+        pause_process $paused_pid2
+    }
+
+    test "Cluster should eventually be up again" {
+        for {set j 0} {$j < [llength $::servers]} {incr j} {
+            if {[process_is_paused [srv -$j pid]]} continue
+            wait_for_condition 1000 50 {
+                [CI $j cluster_state] eq "ok"
+            } else {
+                fail "Cluster node $j cluster_state:[CI $j cluster_state]"
+            }
+        }
+    }
+
+    test "wait for new failover" {
+        wait_for_condition 1000 50 {
+            [s $replica_to_be_primary role] == "master"
+        } else {
+            fail "No failover detected"
+        }
+    }
+
+    test "Restarting the previously killed primary nodes" {
+        resume_process $paused_pid
+        resume_process $paused_pid2
+    }
+
+    test "Make sure there is no failover timeout" {
+        verify_no_log_message -3 "*Failover attempt expired*" 0
+        verify_no_log_message -6 "*Failover attempt expired*" 0
+    }
+
+} ;# start_cluster