diff --git a/.changelog/unreleased/improvements/ibc/1009-height-zero-complete.md b/.changelog/unreleased/improvements/ibc/1009-height-zero-complete.md
new file mode 100644
index 0000000000..d38ac13153
--- /dev/null
+++ b/.changelog/unreleased/improvements/ibc/1009-height-zero-complete.md
@@ -0,0 +1,2 @@
+- Remove the concept of a zero Height
+  ([#1009](https://github.com/informalsystems/ibc-rs/issues/1009))
\ No newline at end of file
diff --git a/e2e/e2e/common.py b/e2e/e2e/common.py
index 10b96b7f51..5d70991fa7 100644
--- a/e2e/e2e/common.py
+++ b/e2e/e2e/common.py
@@ -10,6 +10,12 @@ class Height:
     revision_number: int
 
 
+@dataclass
+class TimeoutHeight:
+    revision_height: int
+    revision_number: int
+
+
 @dataclass
 class Duration:
     nanos: int
@@ -39,6 +45,7 @@ class Ordering(Enum):
 ClientType = NewType('ClientType', str)
 BlockHeight = NewType('BlockHeight', str)
 
+
 def split():
     sleep(0.5)
     print()
diff --git a/e2e/e2e/packet.py b/e2e/e2e/packet.py
index 84f0c705ea..54190d1a3f 100644
--- a/e2e/e2e/packet.py
+++ b/e2e/e2e/packet.py
@@ -12,7 +12,7 @@ class Packet:
     destination_port: PortId
     destination_channel: ChannelId
     data: Hex
-    timeout_height: Height
+    timeout_height: TimeoutHeight
     timeout_timestamp: Timestamp
 
 
diff --git a/modules/src/applications/transfer/msgs/transfer.rs b/modules/src/applications/transfer/msgs/transfer.rs
index bb52dbf414..7d92972ce8 100644
--- a/modules/src/applications/transfer/msgs/transfer.rs
+++ b/modules/src/applications/transfer/msgs/transfer.rs
@@ -8,7 +8,7 @@ use ibc_proto::ibc::applications::transfer::v1::MsgTransfer as RawMsgTransfer;
 use tendermint_proto::Protobuf;
 
 use crate::applications::transfer::error::Error;
-use crate::core::ics02_client::height::Height;
+use crate::core::ics04_channel::timeout::TimeoutHeight;
 use crate::core::ics24_host::identifier::{ChannelId, PortId};
 use crate::signer::Signer;
 use crate::timestamp::Timestamp;
@@ -37,7 +37,7 @@ pub struct MsgTransfer<C = Coin> {
     pub receiver: Signer,
     /// Timeout height relative to the current block height.
     /// The timeout is disabled when set to None.
-    pub timeout_height: Option<Height>,
+    pub timeout_height: TimeoutHeight,
     /// Timeout timestamp relative to the current block timestamp.
     /// The timeout is disabled when set to 0.
     pub timeout_timestamp: Timestamp,
@@ -63,13 +63,9 @@ impl TryFrom<RawMsgTransfer> for MsgTransfer {
         let timeout_timestamp = Timestamp::from_nanoseconds(raw_msg.timeout_timestamp)
             .map_err(|_| Error::invalid_packet_timeout_timestamp(raw_msg.timeout_timestamp))?;
 
-        let timeout_height: Option<Height> = raw_msg
-            .timeout_height
-            .map(|raw_height| raw_height.try_into())
-            .transpose()
-            .map_err(|e| {
-                Error::invalid_packet_timeout_height(format!("invalid timeout height {}", e))
-            })?;
+        let timeout_height: TimeoutHeight = raw_msg.timeout_height.try_into().map_err(|e| {
+            Error::invalid_packet_timeout_height(format!("invalid timeout height {}", e))
+        })?;
 
         Ok(MsgTransfer {
             source_port: raw_msg
@@ -97,7 +93,7 @@ impl From<MsgTransfer> for RawMsgTransfer {
             token: Some(domain_msg.token),
             sender: domain_msg.sender.to_string(),
             receiver: domain_msg.receiver.to_string(),
-            timeout_height: domain_msg.timeout_height.map(|height| height.into()),
+            timeout_height: domain_msg.timeout_height.into(),
             timeout_timestamp: domain_msg.timeout_timestamp.nanoseconds(),
         }
     }
@@ -134,17 +130,21 @@ pub mod test_util {
 
     use super::MsgTransfer;
     use crate::bigint::U256;
+    use crate::core::ics04_channel::timeout::TimeoutHeight;
     use crate::signer::Signer;
     use crate::{
         applications::transfer::{BaseCoin, PrefixedCoin},
         core::ics24_host::identifier::{ChannelId, PortId},
         test_utils::get_dummy_bech32_account,
         timestamp::Timestamp,
-        Height,
     };
 
-    // Returns a dummy ICS20 `MsgTransfer`, for testing only!
-    pub fn get_dummy_msg_transfer(height: u64) -> MsgTransfer<PrefixedCoin> {
+    // Returns a dummy ICS20 `MsgTransfer`. If no `timeout_timestamp` is
+    // specified, a timestamp of 10 seconds in the future is used.
+    pub fn get_dummy_msg_transfer(
+        timeout_height: TimeoutHeight,
+        timeout_timestamp: Option<Timestamp>,
+    ) -> MsgTransfer<PrefixedCoin> {
         let address: Signer = get_dummy_bech32_account().as_str().parse().unwrap();
         MsgTransfer {
             source_port: PortId::default(),
@@ -156,11 +156,9 @@ pub mod test_util {
             .into(),
             sender: address.clone(),
             receiver: address,
-            timeout_timestamp: Timestamp::now().add(Duration::from_secs(10)).unwrap(),
-            timeout_height: Some(Height {
-                revision_number: 0,
-                revision_height: height,
-            }),
+            timeout_timestamp: timeout_timestamp
+                .unwrap_or_else(|| Timestamp::now().add(Duration::from_secs(10)).unwrap()),
+            timeout_height,
         }
     }
 }
diff --git a/modules/src/applications/transfer/relay/send_transfer.rs b/modules/src/applications/transfer/relay/send_transfer.rs
index 993f5ba927..6925c6776c 100644
--- a/modules/src/applications/transfer/relay/send_transfer.rs
+++ b/modules/src/applications/transfer/relay/send_transfer.rs
@@ -4,7 +4,6 @@ use crate::applications::transfer::events::TransferEvent;
 use crate::applications::transfer::msgs::transfer::MsgTransfer;
 use crate::applications::transfer::packet::PacketData;
 use crate::applications::transfer::{is_sender_chain_source, Coin, PrefixedCoin};
-use crate::core::ics02_client::height::Height;
 use crate::core::ics04_channel::handler::send_packet::send_packet;
 use crate::core::ics04_channel::packet::Packet;
 use crate::events::ModuleEvent;
@@ -81,7 +80,7 @@ where
         destination_port,
         destination_channel,
         data,
-        timeout_height: msg.timeout_height.unwrap_or_else(Height::zero),
+        timeout_height: msg.timeout_height,
         timeout_timestamp: msg.timeout_timestamp,
     };
 
diff --git a/modules/src/clients/ics07_tendermint/client_def.rs b/modules/src/clients/ics07_tendermint/client_def.rs
index 9f81f1c2d7..d81e42e6a7 100644
--- a/modules/src/clients/ics07_tendermint/client_def.rs
+++ b/modules/src/clients/ics07_tendermint/client_def.rs
@@ -53,11 +53,11 @@ impl ClientDef for TendermintClient {
         client_state: Self::ClientState,
         header: Self::Header,
     ) -> Result<(Self::ClientState, Self::ConsensusState), Ics02Error> {
-        if header.height().revision_number != client_state.chain_id.version() {
+        if header.height().revision_number() != client_state.chain_id.version() {
             return Err(Ics02Error::tendermint_handler_error(
                 Error::mismatched_revisions(
                     client_state.chain_id.version(),
-                    header.height().revision_number,
+                    header.height().revision_number(),
                 ),
             ));
         }
@@ -88,11 +88,11 @@ impl ClientDef for TendermintClient {
             header_time: trusted_consensus_state.timestamp,
             height: header
                 .trusted_height
-                .revision_height
+                .revision_height()
                 .try_into()
                 .map_err(|_| {
                     Ics02Error::tendermint_handler_error(Error::invalid_header_height(
-                        header.trusted_height,
+                        header.trusted_height.revision_height(),
                     ))
                 })?,
             next_validators: &header.trusted_validator_set,
@@ -185,7 +185,7 @@ impl ClientDef for TendermintClient {
         }
 
         Ok((
-            client_state.with_header(header.clone()),
+            client_state.with_header(header.clone())?,
             ConsensusState::from(header),
         ))
     }
@@ -205,8 +205,8 @@ impl ClientDef for TendermintClient {
 
         let path = ClientConsensusStatePath {
             client_id: client_id.clone(),
-            epoch: consensus_height.revision_number,
-            height: consensus_height.revision_height,
+            epoch: consensus_height.revision_number(),
+            height: consensus_height.revision_height(),
         };
         let value = expected_consensus_state
             .encode_vec()
diff --git a/modules/src/clients/ics07_tendermint/client_state.rs b/modules/src/clients/ics07_tendermint/client_state.rs
index 5205b13687..76ca250e6a 100644
--- a/modules/src/clients/ics07_tendermint/client_state.rs
+++ b/modules/src/clients/ics07_tendermint/client_state.rs
@@ -7,6 +7,7 @@ use serde::{Deserialize, Serialize};
 use tendermint_light_client_verifier::options::Options;
 use tendermint_proto::Protobuf;
 
+use ibc_proto::ibc::core::client::v1::Height as RawHeight;
 use ibc_proto::ibc::lightclients::tendermint::v1::ClientState as RawClientState;
 
 use crate::clients::ics07_tendermint::error::Error;
@@ -77,13 +78,6 @@ impl ClientState {
             )));
         }
 
-        // Basic validation for the latest_height parameter.
-        if latest_height <= Height::zero() {
-            return Err(Error::validation(
-                "ClientState latest height must be greater than zero".to_string(),
-            ));
-        }
-
         // `TrustThreshold` is guaranteed to be in the range `[0, 1)`, but a `TrustThreshold::ZERO`
         // value is invalid in this context
         if trust_level == TrustThreshold::ZERO {
@@ -117,22 +111,18 @@ impl ClientState {
         self.latest_height
     }
 
-    pub fn with_header(self, h: Header) -> Self {
-        // TODO: Clarify which fields should update.
-        ClientState {
-            latest_height: self
-                .latest_height
-                .with_revision_height(u64::from(h.signed_header.header.height)),
+    pub fn with_header(self, h: Header) -> Result<Self, Error> {
+        Ok(ClientState {
+            latest_height: Height::new(
+                self.latest_height.revision_number(),
+                h.signed_header.header.height.into(),
+            )
+            .map_err(|_| Error::invalid_header_height(h.signed_header.header.height.value()))?,
             ..self
-        }
+        })
     }
 
     pub fn with_frozen_height(self, h: Height) -> Result<Self, Error> {
-        if h == Height::zero() {
-            return Err(Error::validation(
-                "ClientState frozen height must be greater than zero".to_string(),
-            ));
-        }
         Ok(Self {
             frozen_height: Some(h),
             ..self
@@ -264,14 +254,12 @@ impl TryFrom<RawClientState> for ClientState {
             .clone()
             .ok_or_else(Error::missing_trusting_period)?;
 
-        let frozen_height = raw.frozen_height.and_then(|raw_height| {
-            let height = raw_height.into();
-            if height == Height::zero() {
-                None
-            } else {
-                Some(height)
-            }
-        });
+        // In `RawClientState`, a `frozen_height` of `0` means "not frozen".
+        // See:
+        // https://github.com/cosmos/ibc-go/blob/8422d0c4c35ef970539466c5bdec1cd27369bab3/modules/light-clients/07-tendermint/types/client_state.go#L74
+        let frozen_height = raw
+            .frozen_height
+            .and_then(|raw_height| raw_height.try_into().ok());
 
         Ok(Self {
             chain_id: ChainId::from_string(raw.chain_id.as_str()),
@@ -296,7 +284,8 @@ impl TryFrom<RawClientState> for ClientState {
             latest_height: raw
                 .latest_height
                 .ok_or_else(Error::missing_latest_height)?
-                .into(),
+                .try_into()
+                .map_err(|_| Error::missing_latest_height())?,
             frozen_height,
             upgrade_path: raw.upgrade_path,
             allow_update: AllowUpdate {
@@ -316,12 +305,17 @@ impl From<ClientState> for RawClientState {
             trusting_period: Some(value.trusting_period.into()),
             unbonding_period: Some(value.unbonding_period.into()),
             max_clock_drift: Some(value.max_clock_drift.into()),
-            frozen_height: Some(value.frozen_height.unwrap_or_else(Height::zero).into()),
+            frozen_height: Some(value.frozen_height.map(|height| height.into()).unwrap_or(
+                RawHeight {
+                    revision_number: 0,
+                    revision_height: 0,
+                },
+            )),
             latest_height: Some(value.latest_height.into()),
             proof_specs: value.proof_specs.into(),
+            upgrade_path: value.upgrade_path,
             allow_update_after_expiry: value.allow_update.after_expiry,
             allow_update_after_misbehaviour: value.allow_update.after_misbehaviour,
-            upgrade_path: value.upgrade_path,
         }
     }
 }
@@ -379,7 +373,7 @@ mod tests {
             trusting_period: Duration::new(64000, 0),
             unbonding_period: Duration::new(128000, 0),
             max_clock_drift: Duration::new(3, 0),
-            latest_height: Height::new(0, 10),
+            latest_height: Height::new(0, 10).unwrap(),
             proof_specs: ProofSpecs::default(),
             upgrade_path: vec!["".to_string()],
             allow_update: AllowUpdate {
@@ -433,14 +427,6 @@ mod tests {
                 },
                 want_pass: false,
             },
-            Test {
-                name: "Invalid (too small) latest height".to_string(),
-                params: ClientStateParams {
-                    latest_height: Height::zero(),
-                    ..default_params.clone()
-                },
-                want_pass: false,
-            },
             Test {
                 name: "Invalid (empty) proof specs".to_string(),
                 params: ClientStateParams {
@@ -502,9 +488,9 @@ mod tests {
                 name: "Successful delay verification".to_string(),
                 params: Params {
                     current_time: (now + Duration::from_nanos(2000)).unwrap(),
-                    current_height: Height::new(0, 5),
+                    current_height: Height::new(0, 5).unwrap(),
                     processed_time: (now + Duration::from_nanos(1000)).unwrap(),
-                    processed_height: Height::new(0, 3),
+                    processed_height: Height::new(0, 3).unwrap(),
                     delay_period_time: Duration::from_nanos(500),
                     delay_period_blocks: 2,
                 },
@@ -514,9 +500,9 @@ mod tests {
                 name: "Delay period(time) has not elapsed".to_string(),
                 params: Params {
                     current_time: (now + Duration::from_nanos(1200)).unwrap(),
-                    current_height: Height::new(0, 5),
+                    current_height: Height::new(0, 5).unwrap(),
                     processed_time: (now + Duration::from_nanos(1000)).unwrap(),
-                    processed_height: Height::new(0, 3),
+                    processed_height: Height::new(0, 3).unwrap(),
                     delay_period_time: Duration::from_nanos(500),
                     delay_period_blocks: 2,
                 },
@@ -526,9 +512,9 @@ mod tests {
                 name: "Delay period(blocks) has not elapsed".to_string(),
                 params: Params {
                     current_time: (now + Duration::from_nanos(2000)).unwrap(),
-                    current_height: Height::new(0, 5),
+                    current_height: Height::new(0, 5).unwrap(),
                     processed_time: (now + Duration::from_nanos(1000)).unwrap(),
-                    processed_height: Height::new(0, 4),
+                    processed_height: Height::new(0, 4).unwrap(),
                     delay_period_time: Duration::from_nanos(500),
                     delay_period_blocks: 2,
                 },
@@ -566,7 +552,7 @@ mod tests {
             trusting_period: Duration::new(64000, 0),
             unbonding_period: Duration::new(128000, 0),
             max_clock_drift: Duration::new(3, 0),
-            latest_height: Height::new(1, 10),
+            latest_height: Height::new(1, 10).unwrap(),
             proof_specs: ProofSpecs::default(),
             upgrade_path: vec!["".to_string()],
             allow_update: AllowUpdate {
@@ -585,21 +571,23 @@ mod tests {
         let tests = vec![
             Test {
                 name: "Successful height verification".to_string(),
-                height: Height::new(1, 8),
+                height: Height::new(1, 8).unwrap(),
                 setup: None,
                 want_pass: true,
             },
             Test {
                 name: "Invalid (too large)  client height".to_string(),
-                height: Height::new(1, 12),
+                height: Height::new(1, 12).unwrap(),
                 setup: None,
                 want_pass: false,
             },
             Test {
                 name: "Invalid, client is frozen below current height".to_string(),
-                height: Height::new(1, 6),
+                height: Height::new(1, 6).unwrap(),
                 setup: Some(Box::new(|client_state| {
-                    client_state.with_frozen_height(Height::new(1, 5)).unwrap()
+                    client_state
+                        .with_frozen_height(Height::new(1, 5).unwrap())
+                        .unwrap()
                 })),
                 want_pass: false,
             },
@@ -660,7 +648,8 @@ pub mod test_util {
                 Height::new(
                     ChainId::chain_version(tm_header.chain_id.as_str()),
                     u64::from(tm_header.height),
-                ),
+                )
+                .unwrap(),
                 Default::default(),
                 vec!["".to_string()],
                 AllowUpdate {
diff --git a/modules/src/clients/ics07_tendermint/error.rs b/modules/src/clients/ics07_tendermint/error.rs
index 0ef3b9f29c..d6d1c3d24b 100644
--- a/modules/src/clients/ics07_tendermint/error.rs
+++ b/modules/src/clients/ics07_tendermint/error.rs
@@ -81,8 +81,8 @@ define_error! {
         MissingLatestHeight
             |_| { "missing latest height" },
 
-        MissingFrozenHeight
-            |_| { "missing frozen height" },
+        InvalidFrozenHeight
+            |_| { "invalid frozen height" },
 
         InvalidChainId
             { raw_value: String }
@@ -174,9 +174,9 @@ define_error! {
             },
 
         InvalidHeaderHeight
-            { height: Height }
+            { height: u64 }
             | e | {
-                format_args!("header height = {0} is invalid", e.height)
+                format_args!("header revision height = {0} is invalid", e.height)
             },
 
         InvalidTrustedHeaderHeight
diff --git a/modules/src/clients/ics07_tendermint/header.rs b/modules/src/clients/ics07_tendermint/header.rs
index 8fe32105a5..8aaf361a0a 100644
--- a/modules/src/clients/ics07_tendermint/header.rs
+++ b/modules/src/clients/ics07_tendermint/header.rs
@@ -40,6 +40,7 @@ impl Header {
             ChainId::chain_version(self.signed_header.header.chain_id.as_str()),
             u64::from(self.signed_header.header.height),
         )
+        .expect("malformed tendermint header domain type has an illegal height of 0")
     }
 
     pub fn compatible_with(&self, other_header: &Header) -> bool {
@@ -104,8 +105,8 @@ impl TryFrom<RawHeader> for Header {
                 .map_err(Error::invalid_raw_header)?,
             trusted_height: raw
                 .trusted_height
-                .ok_or_else(Error::missing_trusted_height)?
-                .into(),
+                .and_then(|raw_height| raw_height.try_into().ok())
+                .ok_or_else(Error::missing_trusted_height)?,
             trusted_validator_set: raw
                 .trusted_validators
                 .ok_or_else(Error::missing_trusted_validator_set)?
@@ -113,10 +114,10 @@ impl TryFrom<RawHeader> for Header {
                 .map_err(Error::invalid_raw_header)?,
         };
 
-        if header.height().revision_number != header.trusted_height.revision_number {
+        if header.height().revision_number() != header.trusted_height.revision_number() {
             return Err(Error::mismatched_revisions(
-                header.trusted_height.revision_number,
-                header.height().revision_number,
+                header.trusted_height.revision_number(),
+                header.height().revision_number(),
             ));
         }
 
@@ -199,7 +200,7 @@ pub mod test_util {
         Header {
             signed_header: shdr,
             validator_set: vs.clone(),
-            trusted_height: Height::new(0, 1),
+            trusted_height: Height::new(0, 1).unwrap(),
             trusted_validator_set: vs,
         }
     }
diff --git a/modules/src/core/ics02_client/client_consensus.rs b/modules/src/core/ics02_client/client_consensus.rs
index a300b3d5f4..12434e0c0d 100644
--- a/modules/src/core/ics02_client/client_consensus.rs
+++ b/modules/src/core/ics02_client/client_consensus.rs
@@ -129,7 +129,10 @@ impl TryFrom<ConsensusStateWithHeight> for AnyConsensusStateWithHeight {
             .ok_or_else(Error::empty_consensus_state_response)?;
 
         Ok(AnyConsensusStateWithHeight {
-            height: value.height.ok_or_else(Error::missing_height)?.into(),
+            height: value
+                .height
+                .and_then(|raw_height| raw_height.try_into().ok())
+                .ok_or_else(Error::missing_height)?,
             consensus_state: state,
         })
     }
diff --git a/modules/src/core/ics02_client/error.rs b/modules/src/core/ics02_client/error.rs
index fee8717689..a2f2f3047c 100644
--- a/modules/src/core/ics02_client/error.rs
+++ b/modules/src/core/ics02_client/error.rs
@@ -158,6 +158,9 @@ define_error! {
             [ HeightError ]
             | e | { format_args!("String {0} cannnot be converted to height", e.value) },
 
+        InvalidHeight
+            | _ | { "revision height cannot be zero" },
+
         InvalidHeightResult
             | _ | { "height cannot end up zero or negative" },
 
diff --git a/modules/src/core/ics02_client/events.rs b/modules/src/core/ics02_client/events.rs
index f858a7549f..56c576d903 100644
--- a/modules/src/core/ics02_client/events.rs
+++ b/modules/src/core/ics02_client/events.rs
@@ -131,10 +131,10 @@ pub struct Attributes {
 impl Default for Attributes {
     fn default() -> Self {
         Attributes {
-            height: Height::default(),
+            height: Height::new(0, 1).unwrap(),
             client_id: Default::default(),
             client_type: ClientType::Tendermint,
-            consensus_height: Height::default(),
+            consensus_height: Height::new(0, 1).unwrap(),
         }
     }
 }
@@ -374,7 +374,7 @@ mod tests {
 
     #[test]
     fn client_event_to_abci_event() {
-        let height = Height::new(1, 1);
+        let height = Height::new(1, 1).unwrap();
         let attributes = Attributes {
             height,
             client_id: "test_client".parse().unwrap(),
diff --git a/modules/src/core/ics02_client/handler/create_client.rs b/modules/src/core/ics02_client/handler/create_client.rs
index 6175147694..b428591a39 100644
--- a/modules/src/core/ics02_client/handler/create_client.rs
+++ b/modules/src/core/ics02_client/handler/create_client.rs
@@ -97,7 +97,7 @@ mod tests {
     fn test_create_client_ok() {
         let ctx = MockContext::default();
         let signer = get_dummy_account_id();
-        let height = Height::new(0, 42);
+        let height = Height::new(0, 42).unwrap();
 
         let msg = MsgCreateAnyClient::new(
             MockClientState::new(MockHeader::new(height)).into(),
@@ -141,50 +141,28 @@ mod tests {
     fn test_create_client_ok_multiple() {
         let existing_client_id = ClientId::default();
         let signer = get_dummy_account_id();
-        let height = Height::new(0, 80);
+        let height_1 = Height::new(0, 80).unwrap();
+        let height_2 = Height::new(0, 42).unwrap();
+        let height_3 = Height::new(0, 50).unwrap();
 
-        let ctx = MockContext::default().with_client(&existing_client_id, height);
+        let ctx = MockContext::default().with_client(&existing_client_id, height_1);
 
         let create_client_msgs: Vec<MsgCreateAnyClient> = vec![
             MsgCreateAnyClient::new(
-                MockClientState::new(MockHeader::new(Height {
-                    revision_height: 42,
-                    ..height
-                }))
-                .into(),
-                MockConsensusState::new(MockHeader::new(Height {
-                    revision_height: 42,
-                    ..height
-                }))
-                .into(),
+                MockClientState::new(MockHeader::new(height_2)).into(),
+                MockConsensusState::new(MockHeader::new(height_2)).into(),
                 signer.clone(),
             )
             .unwrap(),
             MsgCreateAnyClient::new(
-                MockClientState::new(MockHeader::new(Height {
-                    revision_height: 42,
-                    ..height
-                }))
-                .into(),
-                MockConsensusState::new(MockHeader::new(Height {
-                    revision_height: 42,
-                    ..height
-                }))
-                .into(),
+                MockClientState::new(MockHeader::new(height_2)).into(),
+                MockConsensusState::new(MockHeader::new(height_2)).into(),
                 signer.clone(),
             )
             .unwrap(),
             MsgCreateAnyClient::new(
-                MockClientState::new(MockHeader::new(Height {
-                    revision_height: 50,
-                    ..height
-                }))
-                .into(),
-                MockConsensusState::new(MockHeader::new(Height {
-                    revision_height: 50,
-                    ..height
-                }))
-                .into(),
+                MockClientState::new(MockHeader::new(height_3)).into(),
+                MockConsensusState::new(MockHeader::new(height_3)).into(),
                 signer,
             )
             .unwrap(),
@@ -243,7 +221,7 @@ mod tests {
             Duration::from_secs(64000),
             Duration::from_secs(128000),
             Duration::from_millis(3000),
-            Height::new(0, u64::from(tm_header.height)),
+            Height::new(0, u64::from(tm_header.height)).unwrap(),
             ProofSpecs::default(),
             vec!["".to_string()],
             AllowUpdate {
diff --git a/modules/src/core/ics02_client/handler/update_client.rs b/modules/src/core/ics02_client/handler/update_client.rs
index fd4e7a5fb3..b6695eb190 100644
--- a/modules/src/core/ics02_client/handler/update_client.rs
+++ b/modules/src/core/ics02_client/handler/update_client.rs
@@ -135,10 +135,10 @@ mod tests {
 
         let timestamp = Timestamp::now();
 
-        let ctx = MockContext::default().with_client(&client_id, Height::new(0, 42));
+        let ctx = MockContext::default().with_client(&client_id, Height::new(0, 42).unwrap());
         let msg = MsgUpdateAnyClient {
             client_id: client_id.clone(),
-            header: MockHeader::new(Height::new(0, 46))
+            header: MockHeader::new(Height::new(0, 46).unwrap())
                 .with_timestamp(timestamp)
                 .into(),
             signer,
@@ -184,11 +184,11 @@ mod tests {
         let client_id = ClientId::from_str("mockclient1").unwrap();
         let signer = get_dummy_account_id();
 
-        let ctx = MockContext::default().with_client(&client_id, Height::new(0, 42));
+        let ctx = MockContext::default().with_client(&client_id, Height::new(0, 42).unwrap());
 
         let msg = MsgUpdateAnyClient {
             client_id: ClientId::from_str("nonexistingclient").unwrap(),
-            header: MockHeader::new(Height::new(0, 46)).into(),
+            header: MockHeader::new(Height::new(0, 46).unwrap()).into(),
             signer,
         };
 
@@ -212,8 +212,8 @@ mod tests {
             ClientId::from_str("mockclient3").unwrap(),
         ];
         let signer = get_dummy_account_id();
-        let initial_height = Height::new(0, 45);
-        let update_height = Height::new(0, 49);
+        let initial_height = Height::new(0, 45).unwrap();
+        let update_height = Height::new(0, 49).unwrap();
 
         let mut ctx = MockContext::default();
 
@@ -254,14 +254,14 @@ mod tests {
     #[test]
     fn test_update_synthetic_tendermint_client_adjacent_ok() {
         let client_id = ClientId::new(ClientType::Tendermint, 0).unwrap();
-        let client_height = Height::new(1, 20);
-        let update_height = Height::new(1, 21);
+        let client_height = Height::new(1, 20).unwrap();
+        let update_height = Height::new(1, 21).unwrap();
 
         let ctx = MockContext::new(
             ChainId::new("mockgaiaA".to_string(), 1),
             HostType::Mock,
             5,
-            Height::new(1, 1),
+            Height::new(1, 1).unwrap(),
         )
         .with_client_parametrized(
             &client_id,
@@ -330,14 +330,14 @@ mod tests {
     #[test]
     fn test_update_synthetic_tendermint_client_non_adjacent_ok() {
         let client_id = ClientId::new(ClientType::Tendermint, 0).unwrap();
-        let client_height = Height::new(1, 20);
-        let update_height = Height::new(1, 21);
+        let client_height = Height::new(1, 20).unwrap();
+        let update_height = Height::new(1, 21).unwrap();
 
         let ctx = MockContext::new(
             ChainId::new("mockgaiaA".to_string(), 1),
             HostType::Mock,
             5,
-            Height::new(1, 1),
+            Height::new(1, 1).unwrap(),
         )
         .with_client_parametrized_history(
             &client_id,
@@ -358,7 +358,7 @@ mod tests {
         let block_ref = ctx_b.host_block(update_height);
         let mut latest_header: AnyHeader = block_ref.cloned().map(Into::into).unwrap();
 
-        let trusted_height = client_height.clone().sub(1).unwrap_or_default();
+        let trusted_height = client_height.clone().sub(1).unwrap();
 
         latest_header = match latest_header {
             AnyHeader::Tendermint(mut theader) => {
@@ -408,9 +408,9 @@ mod tests {
     #[test]
     fn test_update_synthetic_tendermint_client_duplicate_ok() {
         let client_id = ClientId::new(ClientType::Tendermint, 0).unwrap();
-        let client_height = Height::new(1, 20);
+        let client_height = Height::new(1, 20).unwrap();
 
-        let chain_start_height = Height::new(1, 11);
+        let chain_start_height = Height::new(1, 11).unwrap();
 
         let ctx = MockContext::new(
             ChainId::new("mockgaiaA".to_string(), 1),
@@ -440,7 +440,7 @@ mod tests {
                 let cons_state = ctx.latest_consensus_states(&client_id, &client_height);
                 if let AnyConsensusState::Tendermint(tcs) = cons_state {
                     theader.signed_header.header.time = tcs.timestamp;
-                    theader.trusted_height = Height::new(1, 11)
+                    theader.trusted_height = Height::new(1, 11).unwrap()
                 }
                 AnyHeader::Tendermint(theader)
             }
@@ -488,11 +488,11 @@ mod tests {
     #[test]
     fn test_update_synthetic_tendermint_client_lower_height() {
         let client_id = ClientId::new(ClientType::Tendermint, 0).unwrap();
-        let client_height = Height::new(1, 20);
+        let client_height = Height::new(1, 20).unwrap();
 
-        let client_update_height = Height::new(1, 19);
+        let client_update_height = Height::new(1, 19).unwrap();
 
-        let chain_start_height = Height::new(1, 11);
+        let chain_start_height = Height::new(1, 11).unwrap();
 
         let ctx = MockContext::new(
             ChainId::new("mockgaiaA".to_string(), 1),
diff --git a/modules/src/core/ics02_client/handler/upgrade_client.rs b/modules/src/core/ics02_client/handler/upgrade_client.rs
index 54e2d5caa6..c1a7e5bb5b 100644
--- a/modules/src/core/ics02_client/handler/upgrade_client.rs
+++ b/modules/src/core/ics02_client/handler/upgrade_client.rs
@@ -100,12 +100,13 @@ mod tests {
         let client_id = ClientId::default();
         let signer = get_dummy_account_id();
 
-        let ctx = MockContext::default().with_client(&client_id, Height::new(0, 42));
+        let ctx = MockContext::default().with_client(&client_id, Height::new(0, 42).unwrap());
 
         let msg = MsgUpgradeAnyClient {
             client_id: client_id.clone(),
-            client_state: MockClientState::new(MockHeader::new(Height::new(1, 26))).into(),
-            consensus_state: MockConsensusState::new(MockHeader::new(Height::new(1, 26))).into(),
+            client_state: MockClientState::new(MockHeader::new(Height::new(1, 26).unwrap())).into(),
+            consensus_state: MockConsensusState::new(MockHeader::new(Height::new(1, 26).unwrap()))
+                .into(),
             proof_upgrade_client: Default::default(),
             proof_upgrade_consensus_state: Default::default(),
             signer,
@@ -146,12 +147,13 @@ mod tests {
         let client_id = ClientId::from_str("mockclient1").unwrap();
         let signer = get_dummy_account_id();
 
-        let ctx = MockContext::default().with_client(&client_id, Height::new(0, 42));
+        let ctx = MockContext::default().with_client(&client_id, Height::new(0, 42).unwrap());
 
         let msg = MsgUpgradeAnyClient {
             client_id: ClientId::from_str("nonexistingclient").unwrap(),
-            client_state: MockClientState::new(MockHeader::new(Height::new(1, 26))).into(),
-            consensus_state: MockConsensusState::new(MockHeader::new(Height::new(1, 26))).into(),
+            client_state: MockClientState::new(MockHeader::new(Height::new(1, 26).unwrap())).into(),
+            consensus_state: MockConsensusState::new(MockHeader::new(Height::new(1, 26).unwrap()))
+                .into(),
             proof_upgrade_client: Default::default(),
             proof_upgrade_consensus_state: Default::default(),
             signer,
@@ -174,12 +176,13 @@ mod tests {
         let client_id = ClientId::default();
         let signer = get_dummy_account_id();
 
-        let ctx = MockContext::default().with_client(&client_id, Height::new(0, 42));
+        let ctx = MockContext::default().with_client(&client_id, Height::new(0, 42).unwrap());
 
         let msg = MsgUpgradeAnyClient {
             client_id,
-            client_state: MockClientState::new(MockHeader::new(Height::new(0, 26))).into(),
-            consensus_state: MockConsensusState::new(MockHeader::new(Height::new(0, 26))).into(),
+            client_state: MockClientState::new(MockHeader::new(Height::new(0, 26).unwrap())).into(),
+            consensus_state: MockConsensusState::new(MockHeader::new(Height::new(0, 26).unwrap()))
+                .into(),
             proof_upgrade_client: Default::default(),
             proof_upgrade_consensus_state: Default::default(),
             signer,
@@ -189,7 +192,7 @@ mod tests {
 
         match output {
             Err(Error(ErrorDetail::LowUpgradeHeight(e), _)) => {
-                assert_eq!(e.upgraded_height, Height::new(0, 42));
+                assert_eq!(e.upgraded_height, Height::new(0, 42).unwrap());
                 assert_eq!(e.client_height, msg.client_state.latest_height());
             }
             _ => {
diff --git a/modules/src/core/ics02_client/height.rs b/modules/src/core/ics02_client/height.rs
index e7feae2028..dc84b3ffad 100644
--- a/modules/src/core/ics02_client/height.rs
+++ b/modules/src/core/ics02_client/height.rs
@@ -15,29 +15,30 @@ use crate::core::ics02_client::error::Error;
 #[derive(Copy, Clone, PartialEq, Eq, Hash, Serialize, Deserialize)]
 pub struct Height {
     /// Previously known as "epoch"
-    pub revision_number: u64,
+    revision_number: u64,
 
     /// The height of a block
-    pub revision_height: u64,
+    revision_height: u64,
 }
 
 impl Height {
-    pub fn new(revision_number: u64, revision_height: u64) -> Self {
-        Self {
+    pub fn new(revision_number: u64, revision_height: u64) -> Result<Self, Error> {
+        if revision_height == 0 {
+            return Err(Error::invalid_height());
+        }
+
+        Ok(Self {
             revision_number,
             revision_height,
-        }
+        })
     }
 
-    pub fn zero() -> Height {
-        Self {
-            revision_number: 0,
-            revision_height: 0,
-        }
+    pub fn revision_number(&self) -> u64 {
+        self.revision_number
     }
 
-    pub fn is_zero(&self) -> bool {
-        self.revision_height == 0
+    pub fn revision_height(&self) -> u64 {
+        self.revision_height
     }
 
     pub fn add(&self, delta: u64) -> Height {
@@ -65,19 +66,6 @@ impl Height {
     pub fn decrement(&self) -> Result<Height, Error> {
         self.sub(1)
     }
-
-    pub fn with_revision_height(self, revision_height: u64) -> Height {
-        Height {
-            revision_height,
-            ..self
-        }
-    }
-}
-
-impl Default for Height {
-    fn default() -> Self {
-        Self::zero()
-    }
 }
 
 impl PartialOrd for Height {
@@ -104,12 +92,11 @@ impl Ord for Height {
 
 impl Protobuf<RawHeight> for Height {}
 
-impl From<RawHeight> for Height {
-    fn from(raw: RawHeight) -> Self {
-        Height {
-            revision_number: raw.revision_number,
-            revision_height: raw.revision_height,
-        }
+impl TryFrom<RawHeight> for Height {
+    type Error = Error;
+
+    fn try_from(raw_height: RawHeight) -> Result<Self, Self::Error> {
+        Height::new(raw_height.revision_number, raw_height.revision_height)
     }
 }
 
@@ -148,6 +135,8 @@ define_error! {
                 format_args!("cannot convert into a `Height` type from string {0}",
                     e.height)
             },
+        ZeroHeight
+            |_| { "attempted to parse an invalid zero height" }
     }
 }
 
@@ -156,20 +145,21 @@ impl TryFrom<&str> for Height {
 
     fn try_from(value: &str) -> Result<Self, Self::Error> {
         let split: Vec<&str> = value.split('-').collect();
-        Ok(Height {
-            revision_number: split[0]
-                .parse::<u64>()
-                .map_err(|e| HeightError::height_conversion(value.to_owned(), e))?,
-            revision_height: split[1]
-                .parse::<u64>()
-                .map_err(|e| HeightError::height_conversion(value.to_owned(), e))?,
-        })
+
+        let revision_number = split[0]
+            .parse::<u64>()
+            .map_err(|e| HeightError::height_conversion(value.to_owned(), e))?;
+        let revision_height = split[1]
+            .parse::<u64>()
+            .map_err(|e| HeightError::height_conversion(value.to_owned(), e))?;
+
+        Height::new(revision_number, revision_height).map_err(|_| HeightError::zero_height())
     }
 }
 
 impl From<Height> for String {
     fn from(height: Height) -> Self {
-        format!("{}-{}", height.revision_number, height.revision_number)
+        format!("{}-{}", height.revision_number, height.revision_height)
     }
 }
 
diff --git a/modules/src/core/ics02_client/msgs/upgrade_client.rs b/modules/src/core/ics02_client/msgs/upgrade_client.rs
index 34ed86ea83..6f5b0626de 100644
--- a/modules/src/core/ics02_client/msgs/upgrade_client.rs
+++ b/modules/src/core/ics02_client/msgs/upgrade_client.rs
@@ -186,7 +186,7 @@ mod tests {
         let client_id: ClientId = "tendermint".parse().unwrap();
         let signer = get_dummy_account_id();
 
-        let height = Height::new(1, 1);
+        let height = Height::new(1, 1).unwrap();
 
         let client_state = AnyClientState::Mock(MockClientState::new(MockHeader::new(height)));
         let consensus_state =
diff --git a/modules/src/core/ics03_connection/events.rs b/modules/src/core/ics03_connection/events.rs
index 702747c147..8d05d02527 100644
--- a/modules/src/core/ics03_connection/events.rs
+++ b/modules/src/core/ics03_connection/events.rs
@@ -71,7 +71,7 @@ fn extract_attributes_from_tx(event: &tendermint::abci::Event) -> Result<Attribu
     Ok(attr)
 }
 
-#[derive(Debug, Default, Deserialize, Serialize, Clone, PartialEq, Eq, PartialOrd, Ord, Hash)]
+#[derive(Debug, Deserialize, Serialize, Clone, PartialEq, Eq, PartialOrd, Ord, Hash)]
 pub struct Attributes {
     pub height: Height,
     pub connection_id: Option<ConnectionId>,
@@ -80,6 +80,18 @@ pub struct Attributes {
     pub counterparty_client_id: ClientId,
 }
 
+impl Default for Attributes {
+    fn default() -> Self {
+        Self {
+            height: Height::new(0, 1).unwrap(),
+            connection_id: Default::default(),
+            client_id: Default::default(),
+            counterparty_connection_id: Default::default(),
+            counterparty_client_id: Default::default(),
+        }
+    }
+}
+
 /// Convert attributes to Tendermint ABCI tags
 ///
 /// # Note
@@ -290,7 +302,7 @@ mod test {
 
     #[test]
     fn connection_event_to_abci_event() {
-        let height = Height::new(1, 1);
+        let height = Height::new(1, 1).unwrap();
         let attributes = Attributes {
             height,
             connection_id: Some("test_connection".parse().unwrap()),
diff --git a/modules/src/core/ics03_connection/handler/conn_open_ack.rs b/modules/src/core/ics03_connection/handler/conn_open_ack.rs
index 086a8a9d12..3ea5ad33bc 100644
--- a/modules/src/core/ics03_connection/handler/conn_open_ack.rs
+++ b/modules/src/core/ics03_connection/handler/conn_open_ack.rs
@@ -19,8 +19,11 @@ pub(crate) fn process(
 ) -> HandlerResult<ConnectionResult, Error> {
     let mut output = HandlerOutput::builder();
 
-    // Check the client's (consensus state) proof height.
-    check_client_consensus_height(ctx, msg.consensus_height())?;
+    // If a consensus proof is present, check that the consensus height (for
+    // client proof) in the message is not too advanced nor too old.
+    if let Some(consensus_height) = msg.consensus_height() {
+        check_client_consensus_height(ctx, consensus_height)?;
+    }
 
     // Validate the connection end.
     let mut conn_end = ctx.connection_end(&msg.connection_id)?;
@@ -137,7 +140,7 @@ mod tests {
         let latest_height = proof_height.increment();
         let max_history_size = 5;
         let default_context = MockContext::new(
-            ChainId::new("mockgaia".to_string(), latest_height.revision_number),
+            ChainId::new("mockgaia".to_string(), latest_height.revision_number()),
             HostType::Mock,
             max_history_size,
             latest_height,
diff --git a/modules/src/core/ics03_connection/handler/conn_open_confirm.rs b/modules/src/core/ics03_connection/handler/conn_open_confirm.rs
index 3f32cc3fad..f8ae51f90a 100644
--- a/modules/src/core/ics03_connection/handler/conn_open_confirm.rs
+++ b/modules/src/core/ics03_connection/handler/conn_open_confirm.rs
@@ -132,7 +132,7 @@ mod tests {
                 name: "Processing fails due to connections mismatch (incorrect state)".to_string(),
                 ctx: context
                     .clone()
-                    .with_client(&client_id, Height::new(0, 10))
+                    .with_client(&client_id, Height::new(0, 10).unwrap())
                     .with_connection(msg_confirm.connection_id.clone(), incorrect_conn_end_state),
                 msg: ConnectionMsg::ConnectionOpenConfirm(msg_confirm.clone()),
                 want_pass: false,
@@ -140,7 +140,7 @@ mod tests {
             Test {
                 name: "Processing successful".to_string(),
                 ctx: context
-                    .with_client(&client_id, Height::new(0, 10))
+                    .with_client(&client_id, Height::new(0, 10).unwrap())
                     .with_connection(msg_confirm.connection_id.clone(), correct_conn_end),
                 msg: ConnectionMsg::ConnectionOpenConfirm(msg_confirm),
                 want_pass: true,
diff --git a/modules/src/core/ics03_connection/handler/conn_open_init.rs b/modules/src/core/ics03_connection/handler/conn_open_init.rs
index 4cfd3d59ae..cd00d6ab76 100644
--- a/modules/src/core/ics03_connection/handler/conn_open_init.rs
+++ b/modules/src/core/ics03_connection/handler/conn_open_init.rs
@@ -108,9 +108,10 @@ mod tests {
             ..msg_conn_init_default.clone()
         };
         let default_context = MockContext::default();
-        let good_context = default_context
-            .clone()
-            .with_client(&msg_conn_init_default.client_id, Height::new(0, 10));
+        let good_context = default_context.clone().with_client(
+            &msg_conn_init_default.client_id,
+            Height::new(0, 10).unwrap(),
+        );
 
         let tests: Vec<Test> = vec![
             Test {
diff --git a/modules/src/core/ics03_connection/handler/conn_open_try.rs b/modules/src/core/ics03_connection/handler/conn_open_try.rs
index b9b2132029..b06a0e8505 100644
--- a/modules/src/core/ics03_connection/handler/conn_open_try.rs
+++ b/modules/src/core/ics03_connection/handler/conn_open_try.rs
@@ -20,8 +20,11 @@ pub(crate) fn process(
 ) -> HandlerResult<ConnectionResult, Error> {
     let mut output = HandlerOutput::builder();
 
-    // Check that consensus height (for client proof) in message is not too advanced nor too old.
-    check_client_consensus_height(ctx, msg.consensus_height())?;
+    // If a consensus proof is present, check that the consensus height (for
+    // client proof) in the message is not too advanced nor too old.
+    if let Some(consensus_height) = msg.consensus_height() {
+        check_client_consensus_height(ctx, consensus_height)?;
+    }
 
     // Unwrap the old connection end (if any) and its identifier.
     let (mut new_connection_end, conn_id) = match &msg.previous_connection_id {
@@ -147,7 +150,7 @@ mod tests {
             want_pass: bool,
         }
 
-        let host_chain_height = Height::new(0, 35);
+        let host_chain_height = Height::new(0, 35).unwrap();
         let max_history_size = 5;
         let context = MockContext::new(
             ChainId::new("mockgaia".to_string(), 0),
@@ -159,20 +162,20 @@ mod tests {
 
         let msg_conn_try = MsgConnectionOpenTry::try_from(get_dummy_raw_msg_conn_open_try(
             client_consensus_state_height,
-            host_chain_height.revision_height,
+            host_chain_height.revision_height(),
         ))
         .unwrap();
 
         // The proof targets a height that does not exist (i.e., too advanced) on destination chain.
         let msg_height_advanced = MsgConnectionOpenTry::try_from(get_dummy_raw_msg_conn_open_try(
             client_consensus_state_height,
-            host_chain_height.increment().revision_height,
+            host_chain_height.increment().revision_height(),
         ))
         .unwrap();
         let pruned_height = host_chain_height
             .sub(max_history_size as u64 + 1)
             .unwrap()
-            .revision_height;
+            .revision_height();
         // The consensus proof targets a missing height (pruned) on destination chain.
         let msg_height_old = MsgConnectionOpenTry::try_from(get_dummy_raw_msg_conn_open_try(
             client_consensus_state_height,
@@ -184,7 +187,7 @@ mod tests {
         let msg_proof_height_missing =
             MsgConnectionOpenTry::try_from(get_dummy_raw_msg_conn_open_try(
                 client_consensus_state_height - 1,
-                host_chain_height.revision_height,
+                host_chain_height.revision_height(),
             ))
             .unwrap();
 
@@ -209,19 +212,19 @@ mod tests {
             },
             Test {
                 name: "Processing fails because the client misses the consensus state targeted by the proof".to_string(),
-                ctx: context.clone().with_client(&msg_proof_height_missing.client_id, Height::new(0, client_consensus_state_height)),
+                ctx: context.clone().with_client(&msg_proof_height_missing.client_id, Height::new(0, client_consensus_state_height).unwrap()),
                 msg: ConnectionMsg::ConnectionOpenTry(Box::new(msg_proof_height_missing)),
                 want_pass: false,
             },
             Test {
                 name: "Good parameters but has previous_connection_id".to_string(),
-                ctx: context.clone().with_client(&msg_conn_try.client_id, Height::new(0, client_consensus_state_height)),
+                ctx: context.clone().with_client(&msg_conn_try.client_id, Height::new(0, client_consensus_state_height).unwrap()),
                 msg: ConnectionMsg::ConnectionOpenTry(Box::new(msg_conn_try.clone())),
                 want_pass: false,
             },
             Test {
                 name: "Good parameters".to_string(),
-                ctx: context.with_client(&msg_conn_try.client_id, Height::new(0, client_consensus_state_height)),
+                ctx: context.with_client(&msg_conn_try.client_id, Height::new(0, client_consensus_state_height).unwrap()),
                 msg: ConnectionMsg::ConnectionOpenTry(Box::new(msg_conn_try.with_previous_connection_id(None))),
                 want_pass: true,
             },
diff --git a/modules/src/core/ics03_connection/msgs/conn_open_ack.rs b/modules/src/core/ics03_connection/msgs/conn_open_ack.rs
index 60a42712ff..42cb51106a 100644
--- a/modules/src/core/ics03_connection/msgs/conn_open_ack.rs
+++ b/modules/src/core/ics03_connection/msgs/conn_open_ack.rs
@@ -27,13 +27,10 @@ pub struct MsgConnectionOpenAck {
 }
 
 impl MsgConnectionOpenAck {
-    /// Getter for accessing the `consensus_height` field from this message. Returns the special
-    /// value `Height(0)` if this field is not set.
-    pub fn consensus_height(&self) -> Height {
-        match self.proofs.consensus_proof() {
-            None => Height::zero(),
-            Some(p) => p.height(),
-        }
+    /// Getter for accessing the `consensus_height` field from this message.
+    /// Returns `None` if this field is not set.
+    pub fn consensus_height(&self) -> Option<Height> {
+        self.proofs.consensus_proof().map(|proof| proof.height())
     }
 }
 
@@ -58,8 +55,8 @@ impl TryFrom<RawMsgConnectionOpenAck> for MsgConnectionOpenAck {
     fn try_from(msg: RawMsgConnectionOpenAck) -> Result<Self, Self::Error> {
         let consensus_height = msg
             .consensus_height
-            .ok_or_else(Error::missing_consensus_height)?
-            .into();
+            .and_then(|raw_height| raw_height.try_into().ok())
+            .ok_or_else(Error::missing_consensus_height)?;
         let consensus_proof_obj = ConsensusProof::new(
             msg.proof_consensus
                 .try_into()
@@ -70,8 +67,8 @@ impl TryFrom<RawMsgConnectionOpenAck> for MsgConnectionOpenAck {
 
         let proof_height = msg
             .proof_height
-            .ok_or_else(Error::missing_proof_height)?
-            .into();
+            .and_then(|raw_height| raw_height.try_into().ok())
+            .ok_or_else(Error::missing_proof_height)?;
 
         let client_proof =
             CommitmentProofBytes::try_from(msg.proof_client).map_err(Error::invalid_proof)?;
diff --git a/modules/src/core/ics03_connection/msgs/conn_open_confirm.rs b/modules/src/core/ics03_connection/msgs/conn_open_confirm.rs
index 8a15be9860..4c876d22e8 100644
--- a/modules/src/core/ics03_connection/msgs/conn_open_confirm.rs
+++ b/modules/src/core/ics03_connection/msgs/conn_open_confirm.rs
@@ -43,8 +43,8 @@ impl TryFrom<RawMsgConnectionOpenConfirm> for MsgConnectionOpenConfirm {
     fn try_from(msg: RawMsgConnectionOpenConfirm) -> Result<Self, Self::Error> {
         let proof_height = msg
             .proof_height
-            .ok_or_else(Error::missing_proof_height)?
-            .into();
+            .and_then(|raw_height| raw_height.try_into().ok())
+            .ok_or_else(Error::missing_proof_height)?;
 
         Ok(Self {
             connection_id: msg
diff --git a/modules/src/core/ics03_connection/msgs/conn_open_try.rs b/modules/src/core/ics03_connection/msgs/conn_open_try.rs
index 4709733489..ad315ae461 100644
--- a/modules/src/core/ics03_connection/msgs/conn_open_try.rs
+++ b/modules/src/core/ics03_connection/msgs/conn_open_try.rs
@@ -38,13 +38,10 @@ pub struct MsgConnectionOpenTry {
 }
 
 impl MsgConnectionOpenTry {
-    /// Getter for accessing the `consensus_height` field from this message. Returns the special
-    /// value `0` if this field is not set.
-    pub fn consensus_height(&self) -> Height {
-        match self.proofs.consensus_proof() {
-            None => Height::zero(),
-            Some(p) => p.height(),
-        }
+    /// Getter for accessing the `consensus_height` field from this message.
+    /// Returns `None` if this field is not set.
+    pub fn consensus_height(&self) -> Option<Height> {
+        self.proofs.consensus_proof().map(|proof| proof.height())
     }
 }
 
@@ -75,8 +72,8 @@ impl TryFrom<RawMsgConnectionOpenTry> for MsgConnectionOpenTry {
 
         let consensus_height = msg
             .consensus_height
-            .ok_or_else(Error::missing_consensus_height)?
-            .into();
+            .and_then(|raw_height| raw_height.try_into().ok())
+            .ok_or_else(Error::missing_consensus_height)?;
 
         let consensus_proof_obj = ConsensusProof::new(
             msg.proof_consensus
@@ -88,8 +85,8 @@ impl TryFrom<RawMsgConnectionOpenTry> for MsgConnectionOpenTry {
 
         let proof_height = msg
             .proof_height
-            .ok_or_else(Error::missing_proof_height)?
-            .into();
+            .and_then(|raw_height| raw_height.try_into().ok())
+            .ok_or_else(Error::missing_proof_height)?;
 
         let client_proof =
             CommitmentProofBytes::try_from(msg.proof_client).map_err(Error::invalid_proof)?;
diff --git a/modules/src/core/ics04_channel/context.rs b/modules/src/core/ics04_channel/context.rs
index bbd6d9090a..3102d817bb 100644
--- a/modules/src/core/ics04_channel/context.rs
+++ b/modules/src/core/ics04_channel/context.rs
@@ -19,6 +19,7 @@ use crate::timestamp::Timestamp;
 use crate::Height;
 
 use super::packet::{PacketResult, Sequence};
+use super::timeout::TimeoutHeight;
 
 /// A context supplying all the necessary read-only dependencies for processing any `ChannelMsg`.
 pub trait ChannelReader {
@@ -67,20 +68,29 @@ pub trait ChannelReader {
         key: &(PortId, ChannelId, Sequence),
     ) -> Result<AcknowledgementCommitment, Error>;
 
+    /// Compute the commitment for a packet.
+    /// Note that the absence of `timeout_height` is treated as
+    /// `{revision_number: 0, revision_height: 0}` to be consistent with ibc-go,
+    /// where this value is used to mean "no timeout height":
+    /// <https://github.com/cosmos/ibc-go/blob/04791984b3d6c83f704c4f058e6ca0038d155d91/modules/core/04-channel/keeper/packet.go#L206>
     fn packet_commitment(
         &self,
         packet_data: Vec<u8>,
-        timeout_height: Height,
+        timeout_height: TimeoutHeight,
         timeout_timestamp: Timestamp,
     ) -> PacketCommitment {
-        let mut input = timeout_timestamp.nanoseconds().to_be_bytes().to_vec();
-        let revision_number = timeout_height.revision_number.to_be_bytes();
-        input.append(&mut revision_number.to_vec());
-        let revision_height = timeout_height.revision_height.to_be_bytes();
-        input.append(&mut revision_height.to_vec());
-        let data = self.hash(packet_data);
-        input.append(&mut data.to_vec());
-        self.hash(input).into()
+        let mut hash_input = timeout_timestamp.nanoseconds().to_be_bytes().to_vec();
+
+        let revision_number = timeout_height.commitment_revision_number().to_be_bytes();
+        hash_input.append(&mut revision_number.to_vec());
+
+        let revision_height = timeout_height.commitment_revision_height().to_be_bytes();
+        hash_input.append(&mut revision_height.to_vec());
+
+        let packet_data_hash = self.hash(packet_data);
+        hash_input.append(&mut packet_data_hash.to_vec());
+
+        self.hash(hash_input).into()
     }
 
     fn ack_commitment(&self, ack: Acknowledgement) -> AcknowledgementCommitment {
diff --git a/modules/src/core/ics04_channel/error.rs b/modules/src/core/ics04_channel/error.rs
index 18bf45aa97..67a465ca79 100644
--- a/modules/src/core/ics04_channel/error.rs
+++ b/modules/src/core/ics04_channel/error.rs
@@ -1,4 +1,5 @@
 use super::packet::Sequence;
+use super::timeout::TimeoutHeight;
 use crate::core::ics02_client::error as client_error;
 use crate::core::ics03_connection::error as connection_error;
 use crate::core::ics04_channel::channel::State;
@@ -82,9 +83,6 @@ define_error! {
         ZeroPacketData
             | _ | { "packet data bytes cannot be empty" },
 
-        ZeroPacketTimeout
-            | _ | { "packet timeout height and packet timeout timestamp cannot both be 0" },
-
         InvalidTimeoutHeight
             | _ | { "invalid timeout height for the packet" },
 
@@ -201,7 +199,7 @@ define_error! {
         LowPacketHeight
             {
                 chain_height: Height,
-                timeout_height: Height
+                timeout_height: TimeoutHeight
             }
             | e | {
                 format_args!(
@@ -211,7 +209,7 @@ define_error! {
 
         PacketTimeoutHeightNotReached
             {
-                timeout_height: Height,
+                timeout_height: TimeoutHeight,
                 chain_height: Height,
             }
             | e | {
diff --git a/modules/src/core/ics04_channel/events.rs b/modules/src/core/ics04_channel/events.rs
index 35b4865ef6..49ee2d308f 100644
--- a/modules/src/core/ics04_channel/events.rs
+++ b/modules/src/core/ics04_channel/events.rs
@@ -14,6 +14,8 @@ use crate::events::{
 };
 use crate::prelude::*;
 
+use super::packet::parse_timeout_height;
+
 /// Channel event attribute keys
 const HEIGHT_ATTRIBUTE_KEY: &str = "height";
 const CONNECTION_ID_ATTRIBUTE_KEY: &str = "connection_id";
@@ -23,15 +25,15 @@ const COUNTERPARTY_CHANNEL_ID_ATTRIBUTE_KEY: &str = "counterparty_channel_id";
 const COUNTERPARTY_PORT_ID_ATTRIBUTE_KEY: &str = "counterparty_port_id";
 
 /// Packet event attribute keys
-const PKT_SEQ_ATTRIBUTE_KEY: &str = "packet_sequence";
-const PKT_DATA_ATTRIBUTE_KEY: &str = "packet_data";
-const PKT_SRC_PORT_ATTRIBUTE_KEY: &str = "packet_src_port";
-const PKT_SRC_CHANNEL_ATTRIBUTE_KEY: &str = "packet_src_channel";
-const PKT_DST_PORT_ATTRIBUTE_KEY: &str = "packet_dst_port";
-const PKT_DST_CHANNEL_ATTRIBUTE_KEY: &str = "packet_dst_channel";
-const PKT_TIMEOUT_HEIGHT_ATTRIBUTE_KEY: &str = "packet_timeout_height";
-const PKT_TIMEOUT_TIMESTAMP_ATTRIBUTE_KEY: &str = "packet_timeout_timestamp";
-const PKT_ACK_ATTRIBUTE_KEY: &str = "packet_ack";
+pub const PKT_SEQ_ATTRIBUTE_KEY: &str = "packet_sequence";
+pub const PKT_DATA_ATTRIBUTE_KEY: &str = "packet_data";
+pub const PKT_SRC_PORT_ATTRIBUTE_KEY: &str = "packet_src_port";
+pub const PKT_SRC_CHANNEL_ATTRIBUTE_KEY: &str = "packet_src_channel";
+pub const PKT_DST_PORT_ATTRIBUTE_KEY: &str = "packet_dst_port";
+pub const PKT_DST_CHANNEL_ATTRIBUTE_KEY: &str = "packet_dst_channel";
+pub const PKT_TIMEOUT_HEIGHT_ATTRIBUTE_KEY: &str = "packet_timeout_height";
+pub const PKT_TIMEOUT_TIMESTAMP_ATTRIBUTE_KEY: &str = "packet_timeout_timestamp";
+pub const PKT_ACK_ATTRIBUTE_KEY: &str = "packet_ack";
 
 pub fn try_from_tx(event: &tendermint::abci::Event) -> Option<IbcEvent> {
     match event.type_str.parse() {
@@ -71,7 +73,7 @@ pub fn try_from_tx(event: &tendermint::abci::Event) -> Option<IbcEvent> {
                     // This event should not have a write ack.
                     debug_assert_eq!(write_ack.len(), 0);
                     IbcEvent::SendPacket(SendPacket {
-                        height: Default::default(),
+                        height: Height::new(0, 1).unwrap(),
                         packet,
                     })
                 })
@@ -80,7 +82,7 @@ pub fn try_from_tx(event: &tendermint::abci::Event) -> Option<IbcEvent> {
         Ok(IbcEventType::WriteAck) => extract_packet_and_write_ack_from_tx(event)
             .map(|(packet, write_ack)| {
                 IbcEvent::WriteAcknowledgement(WriteAcknowledgement {
-                    height: Default::default(),
+                    height: Height::new(0, 1).unwrap(),
                     packet,
                     ack: write_ack,
                 })
@@ -92,7 +94,7 @@ pub fn try_from_tx(event: &tendermint::abci::Event) -> Option<IbcEvent> {
                     // This event should not have a write ack.
                     debug_assert_eq!(write_ack.len(), 0);
                     IbcEvent::AcknowledgePacket(AcknowledgePacket {
-                        height: Default::default(),
+                        height: Height::new(0, 1).unwrap(),
                         packet,
                     })
                 })
@@ -104,7 +106,7 @@ pub fn try_from_tx(event: &tendermint::abci::Event) -> Option<IbcEvent> {
                     // This event should not have a write ack.
                     debug_assert_eq!(write_ack.len(), 0);
                     IbcEvent::TimeoutPacket(TimeoutPacket {
-                        height: Default::default(),
+                        height: Height::new(0, 1).unwrap(),
                         packet,
                     })
                 })
@@ -169,8 +171,7 @@ fn extract_packet_and_write_ack_from_tx(
                     .into()
             }
             PKT_TIMEOUT_HEIGHT_ATTRIBUTE_KEY => {
-                packet.timeout_height =
-                    value.parse().map_err(|_| Error::invalid_timeout_height())?;
+                packet.timeout_height = parse_timeout_height(value)?;
             }
             PKT_TIMEOUT_TIMESTAMP_ATTRIBUTE_KEY => {
                 packet.timeout_timestamp = value.parse().unwrap();
@@ -213,7 +214,7 @@ fn extract_attributes(object: &RawObject<'_>, namespace: &str) -> Result<Attribu
     })
 }
 
-#[derive(Debug, Default, Deserialize, Serialize, Clone, PartialEq, Eq, PartialOrd, Ord, Hash)]
+#[derive(Debug, Deserialize, Serialize, Clone, PartialEq, Eq, PartialOrd, Ord, Hash)]
 pub struct Attributes {
     pub height: Height,
     pub port_id: PortId,
@@ -232,6 +233,19 @@ impl Attributes {
     }
 }
 
+impl Default for Attributes {
+    fn default() -> Self {
+        Self {
+            height: Height::new(0, 1).unwrap(),
+            port_id: Default::default(),
+            channel_id: Default::default(),
+            connection_id: Default::default(),
+            counterparty_port_id: Default::default(),
+            counterparty_channel_id: Default::default(),
+        }
+    }
+}
+
 /// Convert attributes to Tendermint ABCI tags
 ///
 /// # Note
@@ -320,7 +334,7 @@ impl TryFrom<Packet> for Vec<Tag> {
         attributes.push(sequence);
         let timeout_height = Tag {
             key: PKT_TIMEOUT_HEIGHT_ATTRIBUTE_KEY.parse().unwrap(),
-            value: p.timeout_height.to_string().parse().unwrap(),
+            value: p.timeout_height.into(),
         };
         attributes.push(timeout_height);
         let timeout_timestamp = Tag {
@@ -1156,7 +1170,7 @@ mod tests {
     #[test]
     fn channel_event_to_abci_event() {
         let attributes = Attributes {
-            height: Height::default(),
+            height: Height::new(0, 1).unwrap(),
             port_id: "test_port".parse().unwrap(),
             channel_id: Some("channel-0".parse().unwrap()),
             connection_id: "test_connection".parse().unwrap(),
@@ -1214,28 +1228,28 @@ mod tests {
             destination_port: "b_test_port".parse().unwrap(),
             destination_channel: "channel-1".parse().unwrap(),
             data: "test_data".as_bytes().to_vec(),
-            timeout_height: Height::new(1, 10),
+            timeout_height: Height::new(1, 10).unwrap().into(),
             timeout_timestamp: Timestamp::now(),
         };
         let mut abci_events = vec![];
         let send_packet = SendPacket {
-            height: Height::default(),
+            height: Height::new(0, 1).unwrap(),
             packet: packet.clone(),
         };
         abci_events.push(AbciEvent::try_from(send_packet.clone()).unwrap());
         let write_ack = WriteAcknowledgement {
-            height: Height::default(),
+            height: Height::new(0, 1).unwrap(),
             packet: packet.clone(),
             ack: "test_ack".as_bytes().to_vec(),
         };
         abci_events.push(AbciEvent::try_from(write_ack.clone()).unwrap());
         let ack_packet = AcknowledgePacket {
-            height: Height::default(),
+            height: Height::new(0, 1).unwrap(),
             packet: packet.clone(),
         };
         abci_events.push(AbciEvent::try_from(ack_packet.clone()).unwrap());
         let timeout_packet = TimeoutPacket {
-            height: Height::default(),
+            height: Height::new(0, 1).unwrap(),
             packet,
         };
         abci_events.push(AbciEvent::try_from(timeout_packet.clone()).unwrap());
diff --git a/modules/src/core/ics04_channel/handler/acknowledgement.rs b/modules/src/core/ics04_channel/handler/acknowledgement.rs
index 5246953b8d..dccf8c947d 100644
--- a/modules/src/core/ics04_channel/handler/acknowledgement.rs
+++ b/modules/src/core/ics04_channel/handler/acknowledgement.rs
@@ -149,10 +149,10 @@ mod tests {
 
         let context = MockContext::default();
 
-        let client_height = Height::new(0, Height::default().revision_height + 2);
+        let client_height = Height::new(0, 2).unwrap();
 
         let msg = MsgAcknowledgement::try_from(get_dummy_raw_msg_acknowledgement(
-            client_height.revision_height,
+            client_height.revision_height(),
         ))
         .unwrap();
         let packet = msg.packet.clone();
diff --git a/modules/src/core/ics04_channel/handler/chan_close_confirm.rs b/modules/src/core/ics04_channel/handler/chan_close_confirm.rs
index fb47d41ac0..60cee080f9 100644
--- a/modules/src/core/ics04_channel/handler/chan_close_confirm.rs
+++ b/modules/src/core/ics04_channel/handler/chan_close_confirm.rs
@@ -137,7 +137,7 @@ mod tests {
         );
 
         let msg_chan_close_confirm = MsgChannelCloseConfirm::try_from(
-            get_dummy_raw_msg_chan_close_confirm(client_consensus_state_height.revision_height),
+            get_dummy_raw_msg_chan_close_confirm(client_consensus_state_height.revision_height()),
         )
         .unwrap();
 
diff --git a/modules/src/core/ics04_channel/handler/chan_open_ack.rs b/modules/src/core/ics04_channel/handler/chan_open_ack.rs
index e883694e3e..e3fe9adc19 100644
--- a/modules/src/core/ics04_channel/handler/chan_open_ack.rs
+++ b/modules/src/core/ics04_channel/handler/chan_open_ack.rs
@@ -145,7 +145,7 @@ mod tests {
         }
         let proof_height = 10;
         let client_consensus_state_height = 10;
-        let host_chain_height = Height::new(0, 35);
+        let host_chain_height = Height::new(0, 35).unwrap();
 
         let context = MockContext::default();
 
@@ -181,7 +181,7 @@ mod tests {
 
         let msg_conn_try = MsgConnectionOpenTry::try_from(get_dummy_raw_msg_conn_open_try(
             client_consensus_state_height,
-            host_chain_height.revision_height,
+            host_chain_height.revision_height(),
         ))
         .unwrap();
 
@@ -220,7 +220,7 @@ mod tests {
                     .clone()
                     .with_client(
                         &msg_conn_try.client_id,
-                        Height::new(0, client_consensus_state_height),
+                        Height::new(0, client_consensus_state_height).unwrap(),
                     )
                     .with_channel(
                         msg_chan_ack.port_id.clone(),
@@ -236,7 +236,7 @@ mod tests {
                     .clone()
                     .with_client(
                         &msg_conn_try.client_id,
-                        Height::new(0, client_consensus_state_height),
+                        Height::new(0, client_consensus_state_height).unwrap(),
                     )
                     .with_channel(
                         msg_chan_ack.port_id.clone(),
@@ -264,7 +264,7 @@ mod tests {
                 ctx: context //  .clone()
                     .with_client(
                         &msg_conn_try.client_id,
-                        Height::new(0, client_consensus_state_height),
+                        Height::new(0, client_consensus_state_height).unwrap(),
                     )
                     .with_connection(cid, conn_end)
                     .with_channel(
diff --git a/modules/src/core/ics04_channel/handler/chan_open_confirm.rs b/modules/src/core/ics04_channel/handler/chan_open_confirm.rs
index 23420c4fa5..37b3d1744a 100644
--- a/modules/src/core/ics04_channel/handler/chan_open_confirm.rs
+++ b/modules/src/core/ics04_channel/handler/chan_open_confirm.rs
@@ -138,7 +138,7 @@ mod tests {
         let client_id = ClientId::new(ClientType::Mock, 24).unwrap();
         let conn_id = ConnectionId::new(2);
         let context = MockContext::default();
-        let client_consensus_state_height = context.host_current_height().revision_height;
+        let client_consensus_state_height = context.host_current_height().revision_height();
 
         // The connection underlying the channel we're trying to open.
         let conn_end = ConnectionEnd::new(
@@ -168,7 +168,10 @@ mod tests {
         let tests: Vec<Test> = vec![Test {
             name: "Good parameters".to_string(),
             ctx: context
-                .with_client(&client_id, Height::new(0, client_consensus_state_height))
+                .with_client(
+                    &client_id,
+                    Height::new(0, client_consensus_state_height).unwrap(),
+                )
                 .with_connection(conn_id, conn_end)
                 .with_channel(
                     msg_chan_confirm.port_id.clone(),
diff --git a/modules/src/core/ics04_channel/handler/chan_open_try.rs b/modules/src/core/ics04_channel/handler/chan_open_try.rs
index 126a7ad8e9..d4bba28f5c 100644
--- a/modules/src/core/ics04_channel/handler/chan_open_try.rs
+++ b/modules/src/core/ics04_channel/handler/chan_open_try.rs
@@ -363,7 +363,7 @@ mod tests {
                 name: "Processing is successful".to_string(),
                 ctx: context
                     .clone()
-                    .with_client(&client_id, Height::new(0, proof_height))
+                    .with_client(&client_id, Height::new(0, proof_height).unwrap())
                     .with_connection(conn_id.clone(), conn_end.clone())
                     .with_channel(msg.port_id.clone(), chan_id, correct_chan_end),
                 msg: ChannelMsg::ChannelOpenTry(msg),
@@ -374,7 +374,7 @@ mod tests {
                 name: "Processing is successful against an empty context (no preexisting channel)"
                     .to_string(),
                 ctx: context
-                    .with_client(&client_id, Height::new(0, proof_height))
+                    .with_client(&client_id, Height::new(0, proof_height).unwrap())
                     .with_connection(conn_id, conn_end),
                 msg: ChannelMsg::ChannelOpenTry(msg_vanilla),
                 want_pass: true,
diff --git a/modules/src/core/ics04_channel/handler/recv_packet.rs b/modules/src/core/ics04_channel/handler/recv_packet.rs
index 973c163bcd..37c3db9011 100644
--- a/modules/src/core/ics04_channel/handler/recv_packet.rs
+++ b/modules/src/core/ics04_channel/handler/recv_packet.rs
@@ -10,7 +10,6 @@ use crate::core::ics24_host::identifier::{ChannelId, PortId};
 use crate::events::IbcEvent;
 use crate::handler::{HandlerOutput, HandlerResult};
 use crate::timestamp::Expiry;
-use crate::Height;
 
 #[derive(Clone, Debug)]
 pub enum RecvPacketResult {
@@ -61,7 +60,7 @@ pub fn process(ctx: &dyn ChannelReader, msg: &MsgRecvPacket) -> HandlerResult<Pa
     }
 
     let latest_height = ctx.host_height();
-    if (!packet.timeout_height.is_zero()) && (packet.timeout_height <= latest_height) {
+    if packet.timeout_height.has_expired(latest_height) {
         return Err(Error::low_packet_height(
             latest_height,
             packet.timeout_height,
@@ -89,7 +88,7 @@ pub fn process(ctx: &dyn ChannelReader, msg: &MsgRecvPacket) -> HandlerResult<Pa
 
         if packet.sequence < next_seq_recv {
             output.emit(IbcEvent::ReceivePacket(ReceivePacket {
-                height: Height::zero(),
+                height: ctx.host_height(),
                 packet: msg.packet.clone(),
             }));
             return Ok(output.with_result(PacketResult::Recv(RecvPacketResult::NoOp)));
@@ -115,7 +114,7 @@ pub fn process(ctx: &dyn ChannelReader, msg: &MsgRecvPacket) -> HandlerResult<Pa
         match packet_rec {
             Ok(_receipt) => {
                 output.emit(IbcEvent::ReceivePacket(ReceivePacket {
-                    height: Height::zero(),
+                    height: ctx.host_height(),
                     packet: msg.packet.clone(),
                 }));
                 return Ok(output.with_result(PacketResult::Recv(RecvPacketResult::NoOp)));
@@ -182,9 +181,10 @@ mod tests {
 
         let client_height = host_height.increment();
 
-        let msg =
-            MsgRecvPacket::try_from(get_dummy_raw_msg_recv_packet(client_height.revision_height))
-                .unwrap();
+        let msg = MsgRecvPacket::try_from(get_dummy_raw_msg_recv_packet(
+            client_height.revision_height(),
+        ))
+        .unwrap();
 
         let packet = msg.packet.clone();
 
@@ -195,7 +195,7 @@ mod tests {
             destination_port: PortId::default(),
             destination_channel: ChannelId::default(),
             data: Vec::new(),
-            timeout_height: client_height,
+            timeout_height: client_height.into(),
             timeout_timestamp: Timestamp::from_nanoseconds(1).unwrap(),
         };
 
diff --git a/modules/src/core/ics04_channel/handler/send_packet.rs b/modules/src/core/ics04_channel/handler/send_packet.rs
index 00e573aef2..83e4540f8a 100644
--- a/modules/src/core/ics04_channel/handler/send_packet.rs
+++ b/modules/src/core/ics04_channel/handler/send_packet.rs
@@ -55,7 +55,7 @@ pub fn send_packet(ctx: &dyn ChannelReader, packet: Packet) -> HandlerResult<Pac
 
     let latest_height = client_state.latest_height();
 
-    if !packet.timeout_height.is_zero() && packet.timeout_height <= latest_height {
+    if packet.timeout_height.has_expired(latest_height) {
         return Err(Error::low_packet_height(
             latest_height,
             packet.timeout_height,
@@ -137,14 +137,6 @@ mod tests {
 
         let context = MockContext::default();
 
-        let timestamp = Timestamp::now().add(Duration::from_secs(10));
-        //CD:TODO remove unwrap
-        let mut packet: Packet = get_dummy_raw_packet(1, timestamp.unwrap().nanoseconds())
-            .try_into()
-            .unwrap();
-        packet.sequence = 1.into();
-        packet.data = vec![0];
-
         let channel_end = ChannelEnd::new(
             State::TryOpen,
             Order::default(),
@@ -165,11 +157,36 @@ mod tests {
             ZERO_DURATION,
         );
 
-        let mut packet_old: Packet = get_dummy_raw_packet(1, 1).try_into().unwrap();
-        packet_old.sequence = 1.into();
-        packet_old.data = vec![0];
+        let timestamp_future = Timestamp::now().add(Duration::from_secs(10)).unwrap();
+        let timestamp_ns_past = 1;
+
+        let timeout_height_future = 10;
+
+        let mut packet: Packet =
+            get_dummy_raw_packet(timeout_height_future, timestamp_future.nanoseconds())
+                .try_into()
+                .unwrap();
+        packet.sequence = 1.into();
+        packet.data = vec![0];
 
-        let client_height = Height::new(0, Height::default().revision_height + 1);
+        let mut packet_with_timestamp_old: Packet =
+            get_dummy_raw_packet(timeout_height_future, timestamp_ns_past)
+                .try_into()
+                .unwrap();
+        packet_with_timestamp_old.sequence = 1.into();
+        packet_with_timestamp_old.data = vec![0];
+
+        let client_raw_height = 5;
+        let packet_timeout_equal_client_height: Packet =
+            get_dummy_raw_packet(client_raw_height, timestamp_future.nanoseconds())
+                .try_into()
+                .unwrap();
+        let packet_timeout_one_before_client_height: Packet =
+            get_dummy_raw_packet(client_raw_height - 1, timestamp_future.nanoseconds())
+                .try_into()
+                .unwrap();
+
+        let client_height = Height::new(0, client_raw_height).unwrap();
 
         let tests: Vec<Test> = vec![
             Test {
@@ -182,7 +199,7 @@ mod tests {
                 name: "Good parameters".to_string(),
                 ctx: context
                     .clone()
-                    .with_client(&ClientId::default(), Height::default())
+                    .with_client(&ClientId::default(), client_height)
                     .with_connection(ConnectionId::default(), connection_end.clone())
                     .with_channel(PortId::default(), ChannelId::default(), channel_end.clone())
                     .with_send_sequence(PortId::default(), ChannelId::default(), 1.into()),
@@ -190,13 +207,35 @@ mod tests {
                 want_pass: true,
             },
             Test {
-                name: "Packet timeout".to_string(),
+                name: "Packet timeout height same as destination chain height".to_string(),
+                ctx: context
+                    .clone()
+                    .with_client(&ClientId::default(), client_height)
+                    .with_connection(ConnectionId::default(), connection_end.clone())
+                    .with_channel(PortId::default(), ChannelId::default(), channel_end.clone())
+                    .with_send_sequence(PortId::default(), ChannelId::default(), 1.into()),
+                packet: packet_timeout_equal_client_height,
+                want_pass: true,
+            },
+            Test {
+                name: "Packet timeout height one more than destination chain height".to_string(),
+                ctx: context
+                    .clone()
+                    .with_client(&ClientId::default(), client_height)
+                    .with_connection(ConnectionId::default(), connection_end.clone())
+                    .with_channel(PortId::default(), ChannelId::default(), channel_end.clone())
+                    .with_send_sequence(PortId::default(), ChannelId::default(), 1.into()),
+                packet: packet_timeout_one_before_client_height,
+                want_pass: false,
+            },
+            Test {
+                name: "Packet timeout due to timestamp".to_string(),
                 ctx: context
                     .with_client(&ClientId::default(), client_height)
                     .with_connection(ConnectionId::default(), connection_end)
                     .with_channel(PortId::default(), ChannelId::default(), channel_end)
                     .with_send_sequence(PortId::default(), ChannelId::default(), 1.into()),
-                packet: packet_old,
+                packet: packet_with_timestamp_old,
                 want_pass: false,
             },
         ]
diff --git a/modules/src/core/ics04_channel/handler/timeout.rs b/modules/src/core/ics04_channel/handler/timeout.rs
index c6153aa3cb..d1ebe5cb3a 100644
--- a/modules/src/core/ics04_channel/handler/timeout.rs
+++ b/modules/src/core/ics04_channel/handler/timeout.rs
@@ -21,6 +21,11 @@ pub struct TimeoutPacketResult {
     pub channel: Option<ChannelEnd>,
 }
 
+/// TimeoutPacket is called by a module which originally attempted to send a
+/// packet to a counterparty module, where the timeout height has passed on the
+/// counterparty chain without the packet being committed, to prove that the
+/// packet can no longer be executed and to allow the calling module to safely
+/// perform appropriate state transitions.
 pub fn process(ctx: &dyn ChannelReader, msg: &MsgTimeout) -> HandlerResult<PacketResult, Error> {
     let mut output = HandlerOutput::builder();
 
@@ -51,9 +56,8 @@ pub fn process(ctx: &dyn ChannelReader, msg: &MsgTimeout) -> HandlerResult<Packe
 
     // check that timeout height or timeout timestamp has passed on the other end
     let proof_height = msg.proofs.height();
-    let packet_height = packet.timeout_height;
 
-    if (!packet.timeout_height.is_zero()) && packet_height > proof_height {
+    if packet.timeout_height.has_expired(proof_height) {
         return Err(Error::packet_timeout_height_not_reached(
             packet.timeout_height,
             proof_height,
@@ -170,13 +174,18 @@ mod tests {
 
         let context = MockContext::default();
 
-        let height = Height::default().revision_height + 2;
+        let msg_proof_height = 2;
+        let msg_timeout_height = 5;
         let timeout_timestamp = 5;
 
-        let client_height = Height::new(0, Height::default().revision_height + 2);
+        let client_height = Height::new(0, 2).unwrap();
 
-        let msg =
-            MsgTimeout::try_from(get_dummy_raw_msg_timeout(height, timeout_timestamp)).unwrap();
+        let msg = MsgTimeout::try_from(get_dummy_raw_msg_timeout(
+            msg_proof_height,
+            msg_timeout_height,
+            timeout_timestamp,
+        ))
+        .unwrap();
         let packet = msg.packet.clone();
 
         let mut msg_ok = msg.clone();
diff --git a/modules/src/core/ics04_channel/handler/timeout_on_close.rs b/modules/src/core/ics04_channel/handler/timeout_on_close.rs
index 04a7550ec6..d0cf3b677d 100644
--- a/modules/src/core/ics04_channel/handler/timeout_on_close.rs
+++ b/modules/src/core/ics04_channel/handler/timeout_on_close.rs
@@ -163,10 +163,10 @@ mod tests {
 
         let context = MockContext::default();
 
-        let height = Height::default().revision_height + 2;
+        let height = 2;
         let timeout_timestamp = 5;
 
-        let client_height = Height::new(0, Height::default().revision_height + 2);
+        let client_height = Height::new(0, 2).unwrap();
 
         let msg = MsgTimeoutOnClose::try_from(get_dummy_raw_msg_timeout_on_close(
             height,
diff --git a/modules/src/core/ics04_channel/handler/write_acknowledgement.rs b/modules/src/core/ics04_channel/handler/write_acknowledgement.rs
index 3bf30c57c0..61bbc2824d 100644
--- a/modules/src/core/ics04_channel/handler/write_acknowledgement.rs
+++ b/modules/src/core/ics04_channel/handler/write_acknowledgement.rs
@@ -104,7 +104,7 @@ mod tests {
 
         let context = MockContext::default();
 
-        let client_height = Height::new(0, 1);
+        let client_height = Height::new(0, 1).unwrap();
 
         let mut packet: Packet = get_dummy_raw_packet(1, 6).try_into().unwrap();
         packet.sequence = 1.into();
@@ -159,7 +159,7 @@ mod tests {
             Test {
                 name: "Zero ack".to_string(),
                 ctx: context
-                    .with_client(&ClientId::default(), Height::default())
+                    .with_client(&ClientId::default(), Height::new(0, 1).unwrap())
                     .with_connection(ConnectionId::default(), connection_end)
                     .with_channel(PortId::default(), ChannelId::default(), dest_channel_end),
                 packet,
diff --git a/modules/src/core/ics04_channel/mod.rs b/modules/src/core/ics04_channel/mod.rs
index 35a8ef9e4c..d6b23e13bc 100644
--- a/modules/src/core/ics04_channel/mod.rs
+++ b/modules/src/core/ics04_channel/mod.rs
@@ -9,6 +9,7 @@ pub mod events;
 pub mod handler;
 pub mod msgs;
 pub mod packet;
+pub mod timeout;
 
 pub mod commitment;
 mod version;
diff --git a/modules/src/core/ics04_channel/msgs/acknowledgement.rs b/modules/src/core/ics04_channel/msgs/acknowledgement.rs
index 95bf93279f..f266999a89 100644
--- a/modules/src/core/ics04_channel/msgs/acknowledgement.rs
+++ b/modules/src/core/ics04_channel/msgs/acknowledgement.rs
@@ -102,8 +102,8 @@ impl TryFrom<RawMsgAcknowledgement> for MsgAcknowledgement {
             None,
             raw_msg
                 .proof_height
-                .ok_or_else(Error::missing_height)?
-                .into(),
+                .and_then(|raw_height| raw_height.try_into().ok())
+                .ok_or_else(Error::missing_height)?,
         )
         .map_err(Error::invalid_proof)?;
 
diff --git a/modules/src/core/ics04_channel/msgs/chan_close_confirm.rs b/modules/src/core/ics04_channel/msgs/chan_close_confirm.rs
index 2dc6bd27dc..f075a4c0b2 100644
--- a/modules/src/core/ics04_channel/msgs/chan_close_confirm.rs
+++ b/modules/src/core/ics04_channel/msgs/chan_close_confirm.rs
@@ -64,8 +64,8 @@ impl TryFrom<RawMsgChannelCloseConfirm> for MsgChannelCloseConfirm {
             None,
             raw_msg
                 .proof_height
-                .ok_or_else(Error::missing_height)?
-                .into(),
+                .and_then(|raw_height| raw_height.try_into().ok())
+                .ok_or_else(Error::missing_height)?,
         )
         .map_err(Error::invalid_proof)?;
 
diff --git a/modules/src/core/ics04_channel/msgs/chan_open_ack.rs b/modules/src/core/ics04_channel/msgs/chan_open_ack.rs
index 14cd6d85c6..25b4ae1088 100644
--- a/modules/src/core/ics04_channel/msgs/chan_open_ack.rs
+++ b/modules/src/core/ics04_channel/msgs/chan_open_ack.rs
@@ -70,8 +70,8 @@ impl TryFrom<RawMsgChannelOpenAck> for MsgChannelOpenAck {
             None,
             raw_msg
                 .proof_height
-                .ok_or_else(Error::missing_height)?
-                .into(),
+                .and_then(|raw_height| raw_height.try_into().ok())
+                .ok_or_else(Error::missing_height)?,
         )
         .map_err(Error::invalid_proof)?;
 
diff --git a/modules/src/core/ics04_channel/msgs/chan_open_confirm.rs b/modules/src/core/ics04_channel/msgs/chan_open_confirm.rs
index 7ad004adb3..a37bc84c8e 100644
--- a/modules/src/core/ics04_channel/msgs/chan_open_confirm.rs
+++ b/modules/src/core/ics04_channel/msgs/chan_open_confirm.rs
@@ -59,8 +59,8 @@ impl TryFrom<RawMsgChannelOpenConfirm> for MsgChannelOpenConfirm {
             None,
             raw_msg
                 .proof_height
-                .ok_or_else(Error::missing_height)?
-                .into(),
+                .and_then(|raw_height| raw_height.try_into().ok())
+                .ok_or_else(Error::missing_height)?,
         )
         .map_err(Error::invalid_proof)?;
 
diff --git a/modules/src/core/ics04_channel/msgs/chan_open_try.rs b/modules/src/core/ics04_channel/msgs/chan_open_try.rs
index 5af004d529..358c0c979d 100644
--- a/modules/src/core/ics04_channel/msgs/chan_open_try.rs
+++ b/modules/src/core/ics04_channel/msgs/chan_open_try.rs
@@ -84,8 +84,8 @@ impl TryFrom<RawMsgChannelOpenTry> for MsgChannelOpenTry {
             None,
             raw_msg
                 .proof_height
-                .ok_or_else(ChannelError::missing_height)?
-                .into(),
+                .and_then(|raw_height| raw_height.try_into().ok())
+                .ok_or_else(ChannelError::missing_height)?,
         )
         .map_err(ChannelError::invalid_proof)?;
 
diff --git a/modules/src/core/ics04_channel/msgs/recv_packet.rs b/modules/src/core/ics04_channel/msgs/recv_packet.rs
index 7aad7c6eec..30b8522b3d 100644
--- a/modules/src/core/ics04_channel/msgs/recv_packet.rs
+++ b/modules/src/core/ics04_channel/msgs/recv_packet.rs
@@ -61,8 +61,8 @@ impl TryFrom<RawMsgRecvPacket> for MsgRecvPacket {
             None,
             raw_msg
                 .proof_height
-                .ok_or_else(Error::missing_height)?
-                .into(),
+                .and_then(|raw_height| raw_height.try_into().ok())
+                .ok_or_else(Error::missing_height)?,
         )
         .map_err(Error::invalid_proof)?;
 
diff --git a/modules/src/core/ics04_channel/msgs/timeout.rs b/modules/src/core/ics04_channel/msgs/timeout.rs
index a2887e1013..966fdd80a2 100644
--- a/modules/src/core/ics04_channel/msgs/timeout.rs
+++ b/modules/src/core/ics04_channel/msgs/timeout.rs
@@ -68,8 +68,8 @@ impl TryFrom<RawMsgTimeout> for MsgTimeout {
             None,
             raw_msg
                 .proof_height
-                .ok_or_else(Error::missing_height)?
-                .into(),
+                .and_then(|raw_height| raw_height.try_into().ok())
+                .ok_or_else(Error::missing_height)?,
         )
         .map_err(Error::invalid_proof)?;
 
@@ -109,13 +109,17 @@ pub mod test_util {
 
     /// Returns a dummy `RawMsgTimeout`, for testing only!
     /// The `height` parametrizes both the proof height as well as the timeout height.
-    pub fn get_dummy_raw_msg_timeout(height: u64, timeout_timestamp: u64) -> RawMsgTimeout {
+    pub fn get_dummy_raw_msg_timeout(
+        proof_height: u64,
+        timeout_height: u64,
+        timeout_timestamp: u64,
+    ) -> RawMsgTimeout {
         RawMsgTimeout {
-            packet: Some(get_dummy_raw_packet(height, timeout_timestamp)),
+            packet: Some(get_dummy_raw_packet(timeout_height, timeout_timestamp)),
             proof_unreceived: get_dummy_proof(),
             proof_height: Some(RawHeight {
                 revision_number: 0,
-                revision_height: height,
+                revision_height: proof_height,
             }),
             next_sequence_recv: 1,
             signer: get_dummy_bech32_account(),
@@ -144,9 +148,11 @@ mod test {
             want_pass: bool,
         }
 
-        let height = 50;
+        let proof_height = 50;
+        let timeout_height = proof_height;
         let timeout_timestamp = 0;
-        let default_raw_msg = get_dummy_raw_msg_timeout(height, timeout_timestamp);
+        let default_raw_msg =
+            get_dummy_raw_msg_timeout(proof_height, timeout_height, timeout_timestamp);
 
         let tests: Vec<Test> = vec![
             Test {
@@ -204,7 +210,7 @@ mod test {
 
     #[test]
     fn to_and_from() {
-        let raw = get_dummy_raw_msg_timeout(15, 0);
+        let raw = get_dummy_raw_msg_timeout(15, 20, 0);
         let msg = MsgTimeout::try_from(raw.clone()).unwrap();
         let raw_back = RawMsgTimeout::from(msg.clone());
         let msg_back = MsgTimeout::try_from(raw_back.clone()).unwrap();
diff --git a/modules/src/core/ics04_channel/msgs/timeout_on_close.rs b/modules/src/core/ics04_channel/msgs/timeout_on_close.rs
index 05fda53a54..029aeb623b 100644
--- a/modules/src/core/ics04_channel/msgs/timeout_on_close.rs
+++ b/modules/src/core/ics04_channel/msgs/timeout_on_close.rs
@@ -67,8 +67,8 @@ impl TryFrom<RawMsgTimeoutOnClose> for MsgTimeoutOnClose {
             None,
             raw_msg
                 .proof_height
-                .ok_or_else(Error::missing_height)?
-                .into(),
+                .and_then(|raw_height| raw_height.try_into().ok())
+                .ok_or_else(Error::missing_height)?,
         )
         .map_err(Error::invalid_proof)?;
 
diff --git a/modules/src/core/ics04_channel/packet.rs b/modules/src/core/ics04_channel/packet.rs
index 3d6a49886b..6efc76a7ea 100644
--- a/modules/src/core/ics04_channel/packet.rs
+++ b/modules/src/core/ics04_channel/packet.rs
@@ -1,3 +1,4 @@
+use crate::core::ics02_client::height::HeightErrorDetail;
 use crate::prelude::*;
 
 use core::str::FromStr;
@@ -12,10 +13,16 @@ use crate::events::{extract_attribute, Error as EventError, RawObject};
 use crate::timestamp::{Expiry::Expired, Timestamp};
 use crate::Height;
 
+use super::events::{
+    PKT_DST_CHANNEL_ATTRIBUTE_KEY, PKT_DST_PORT_ATTRIBUTE_KEY, PKT_SEQ_ATTRIBUTE_KEY,
+    PKT_SRC_CHANNEL_ATTRIBUTE_KEY, PKT_SRC_PORT_ATTRIBUTE_KEY, PKT_TIMEOUT_HEIGHT_ATTRIBUTE_KEY,
+    PKT_TIMEOUT_TIMESTAMP_ATTRIBUTE_KEY,
+};
 use super::handler::{
     acknowledgement::AckPacketResult, recv_packet::RecvPacketResult, send_packet::SendPacketResult,
     timeout::TimeoutPacketResult, write_acknowledgement::WriteAckPacketResult,
 };
+use super::timeout::TimeoutHeight;
 
 /// Enumeration of proof carrying ICS4 message, helper for relayer.
 #[derive(Clone, Debug, PartialEq, Eq)]
@@ -106,7 +113,7 @@ pub struct Packet {
     pub destination_channel: ChannelId,
     #[serde(serialize_with = "crate::serializers::ser_hex_upper")]
     pub data: Vec<u8>,
-    pub timeout_height: Height,
+    pub timeout_height: TimeoutHeight,
     pub timeout_timestamp: Timestamp,
 }
 
@@ -165,9 +172,12 @@ impl Packet {
     /// instead of the common-case where it results in
     /// [`MsgRecvPacket`](crate::core::ics04_channel::msgs::recv_packet::MsgRecvPacket).
     pub fn timed_out(&self, dst_chain_ts: &Timestamp, dst_chain_height: Height) -> bool {
-        (self.timeout_height != Height::zero() && self.timeout_height < dst_chain_height)
-            || (self.timeout_timestamp != Timestamp::none()
-                && dst_chain_ts.check_expiry(&self.timeout_timestamp) == Expired)
+        let height_timed_out = self.timeout_height.has_expired(dst_chain_height);
+
+        let timestamp_timed_out = self.timeout_timestamp != Timestamp::none()
+            && dst_chain_ts.check_expiry(&self.timeout_timestamp) == Expired;
+
+        height_timed_out || timestamp_timed_out
     }
 }
 
@@ -188,6 +198,20 @@ impl core::fmt::Display for Packet {
     }
 }
 
+/// Parse a string into a timeout height expected to be stored in
+/// `Packet.timeout_height`. We need to parse the timeout height differently
+/// because of a quirk introduced in ibc-go. See comment in
+/// `TryFrom<RawPacket> for Packet`.
+pub fn parse_timeout_height(s: &str) -> Result<TimeoutHeight, Error> {
+    match s.parse::<Height>() {
+        Ok(height) => Ok(TimeoutHeight::from(height)),
+        Err(e) => match e.into_detail() {
+            HeightErrorDetail::ZeroHeight(_) => Ok(TimeoutHeight::no_timeout()),
+            _ => Err(Error::invalid_timeout_height()),
+        },
+    }
+}
+
 impl TryFrom<RawPacket> for Packet {
     type Error = Error;
 
@@ -195,14 +219,20 @@ impl TryFrom<RawPacket> for Packet {
         if Sequence::from(raw_pkt.sequence).is_zero() {
             return Err(Error::zero_packet_sequence());
         }
-        let packet_timeout_height: Height = raw_pkt
+
+        // Note: ibc-go currently (July 2022) incorrectly treats the timeout
+        // heights `{revision_number : >0, revision_height: 0}` as valid
+        // timeouts. However, heights with `revision_height == 0` are invalid in
+        // Tendermint. We explicitly reject these values because they go against
+        // the Tendermint spec, and shouldn't be used. To timeout on the next
+        // revision_number as soon as the chain starts,
+        // `{revision_number: old_rev + 1, revision_height: 1}`
+        // should be used.
+        let packet_timeout_height: TimeoutHeight = raw_pkt
             .timeout_height
-            .ok_or_else(Error::missing_height)?
-            .into();
+            .try_into()
+            .map_err(|_| Error::invalid_timeout_height())?;
 
-        if packet_timeout_height.is_zero() && raw_pkt.timeout_timestamp == 0 {
-            return Err(Error::zero_packet_timeout());
-        }
         if raw_pkt.data.is_empty() {
             return Err(Error::zero_packet_data());
         }
@@ -233,34 +263,47 @@ impl TryFrom<RawObject<'_>> for Packet {
     type Error = EventError;
     fn try_from(obj: RawObject<'_>) -> Result<Self, Self::Error> {
         Ok(Packet {
-            sequence: extract_attribute(&obj, &format!("{}.packet_sequence", obj.action))?
-                .parse()
-                .map_err(EventError::channel)?,
-            source_port: extract_attribute(&obj, &format!("{}.packet_src_port", obj.action))?
-                .parse()
-                .map_err(EventError::parse)?,
-            source_channel: extract_attribute(&obj, &format!("{}.packet_src_channel", obj.action))?
-                .parse()
-                .map_err(EventError::parse)?,
-            destination_port: extract_attribute(&obj, &format!("{}.packet_dst_port", obj.action))?
-                .parse()
-                .map_err(EventError::parse)?,
-            destination_channel: extract_attribute(
+            sequence: extract_attribute(
+                &obj,
+                &format!("{}.{}", obj.action, PKT_SEQ_ATTRIBUTE_KEY),
+            )?
+            .parse()
+            .map_err(EventError::channel)?,
+            source_port: extract_attribute(
                 &obj,
-                &format!("{}.packet_dst_channel", obj.action),
+                &format!("{}.{}", obj.action, PKT_SRC_PORT_ATTRIBUTE_KEY),
             )?
             .parse()
             .map_err(EventError::parse)?,
-            data: vec![],
-            timeout_height: extract_attribute(
+            source_channel: extract_attribute(
                 &obj,
-                &format!("{}.packet_timeout_height", obj.action),
+                &format!("{}.{}", obj.action, PKT_SRC_CHANNEL_ATTRIBUTE_KEY),
             )?
             .parse()
-            .map_err(EventError::height)?,
+            .map_err(EventError::parse)?,
+            destination_port: extract_attribute(
+                &obj,
+                &format!("{}.{}", obj.action, PKT_DST_PORT_ATTRIBUTE_KEY),
+            )?
+            .parse()
+            .map_err(EventError::parse)?,
+            destination_channel: extract_attribute(
+                &obj,
+                &format!("{}.{}", obj.action, PKT_DST_CHANNEL_ATTRIBUTE_KEY),
+            )?
+            .parse()
+            .map_err(EventError::parse)?,
+            data: vec![],
+            timeout_height: {
+                let timeout_height_str = extract_attribute(
+                    &obj,
+                    &format!("{}.{}", obj.action, PKT_TIMEOUT_HEIGHT_ATTRIBUTE_KEY),
+                )?;
+                parse_timeout_height(&timeout_height_str).map_err(|_| EventError::height())?
+            },
             timeout_timestamp: extract_attribute(
                 &obj,
-                &format!("{}.packet_timeout_timestamp", obj.action),
+                &format!("{}.{}", obj.action, PKT_TIMEOUT_TIMESTAMP_ATTRIBUTE_KEY),
             )?
             .parse()
             .map_err(EventError::timestamp)?,
@@ -277,7 +320,7 @@ impl From<Packet> for RawPacket {
             destination_port: packet.destination_port.to_string(),
             destination_channel: packet.destination_channel.to_string(),
             data: packet.data,
-            timeout_height: Some(packet.timeout_height.into()),
+            timeout_height: packet.timeout_height.into(),
             timeout_timestamp: packet.timeout_timestamp.nanoseconds(),
         }
     }
@@ -316,6 +359,7 @@ mod tests {
     use test_log::test;
 
     use ibc_proto::ibc::core::channel::v1::Packet as RawPacket;
+    use ibc_proto::ibc::core::client::v1::Height as RawHeight;
 
     use crate::core::ics04_channel::packet::test_utils::get_dummy_raw_packet;
     use crate::core::ics04_channel::packet::Packet;
@@ -329,19 +373,38 @@ mod tests {
         }
 
         let proof_height = 10;
-        let default_raw_msg = get_dummy_raw_packet(proof_height, 0);
+        let default_raw_packet = get_dummy_raw_packet(proof_height, 0);
+        let raw_packet_no_timeout_or_timestamp = get_dummy_raw_packet(0, 0);
+
+        let mut raw_packet_invalid_timeout_height = get_dummy_raw_packet(0, 0);
+        raw_packet_invalid_timeout_height.timeout_height = Some(RawHeight {
+            revision_number: 1,
+            revision_height: 0,
+        });
 
         let tests: Vec<Test> = vec![
             Test {
                 name: "Good parameters".to_string(),
-                raw: default_raw_msg.clone(),
+                raw: default_raw_packet.clone(),
                 want_pass: true,
             },
+            Test {
+                // Note: ibc-go currently (July 2022) incorrectly rejects this
+                // case, even though it is allowed in ICS-4.
+                name: "Packet with no timeout of timestamp".to_string(),
+                raw: raw_packet_no_timeout_or_timestamp,
+                want_pass: true,
+            },
+            Test {
+                name: "Packet with invalid timeout height".to_string(),
+                raw: raw_packet_invalid_timeout_height,
+                want_pass: false,
+            },
             Test {
                 name: "Src port validation: correct".to_string(),
                 raw: RawPacket {
                     source_port: "srcportp34".to_string(),
-                    ..default_raw_msg.clone()
+                    ..default_raw_packet.clone()
                 },
                 want_pass: true,
             },
@@ -349,7 +412,7 @@ mod tests {
                 name: "Bad src port, name too short".to_string(),
                 raw: RawPacket {
                     source_port: "p".to_string(),
-                    ..default_raw_msg.clone()
+                    ..default_raw_packet.clone()
                 },
                 want_pass: false,
             },
@@ -357,7 +420,7 @@ mod tests {
                 name: "Bad src port, name too long".to_string(),
                 raw: RawPacket {
                     source_port: "abcdefghijasdfasdfasdfasdfasdfasdfasdfasdfasdfasdfadgasgasdfasdfasdfasdfaklmnopqrstuabcdefghijasdfasdfasdfasdfasdfasdfasdfasdfasdfasdfadgasgasdfasdfasdfasdfaklmnopqrstu".to_string(),
-                    ..default_raw_msg.clone()
+                    ..default_raw_packet.clone()
                 },
                 want_pass: false,
             },
@@ -365,7 +428,7 @@ mod tests {
                 name: "Dst port validation: correct".to_string(),
                 raw: RawPacket {
                     destination_port: "destportsrcp34".to_string(),
-                    ..default_raw_msg.clone()
+                    ..default_raw_packet.clone()
                 },
                 want_pass: true,
             },
@@ -373,7 +436,7 @@ mod tests {
                 name: "Bad dst port, name too short".to_string(),
                 raw: RawPacket {
                     destination_port: "p".to_string(),
-                    ..default_raw_msg.clone()
+                    ..default_raw_packet.clone()
                 },
                 want_pass: false,
             },
@@ -381,7 +444,7 @@ mod tests {
                 name: "Bad dst port, name too long".to_string(),
                 raw: RawPacket {
                     destination_port: "abcdefghijasdfasdfasdfasdfasdfasdfasdfasdfasdfasdfadgasgasdfasdfasdfasdfaklmnopqrstuabcdefghijasdfasdfasdfasdfasdfasdfasdfasdfasdfasdfadgasgasdfas".to_string(),
-                    ..default_raw_msg.clone()
+                    ..default_raw_packet.clone()
                 },
                 want_pass: false,
             },
@@ -389,7 +452,7 @@ mod tests {
                 name: "Src channel validation: correct".to_string(),
                 raw: RawPacket {
                     source_channel: "channel-1".to_string(),
-                    ..default_raw_msg.clone()
+                    ..default_raw_packet.clone()
                 },
                 want_pass: true,
             },
@@ -397,7 +460,7 @@ mod tests {
                 name: "Bad src channel, name too short".to_string(),
                 raw: RawPacket {
                     source_channel: "p".to_string(),
-                    ..default_raw_msg.clone()
+                    ..default_raw_packet.clone()
                 },
                 want_pass: false,
             },
@@ -405,7 +468,7 @@ mod tests {
                 name: "Bad src channel, name too long".to_string(),
                 raw: RawPacket {
                     source_channel: "channel-12839128379182739812739879".to_string(),
-                    ..default_raw_msg.clone()
+                    ..default_raw_packet.clone()
                 },
                 want_pass: false,
             },
@@ -413,7 +476,7 @@ mod tests {
                 name: "Dst channel validation: correct".to_string(),
                 raw: RawPacket {
                     destination_channel: "channel-34".to_string(),
-                    ..default_raw_msg.clone()
+                    ..default_raw_packet.clone()
                 },
                 want_pass: true,
             },
@@ -421,7 +484,7 @@ mod tests {
                 name: "Bad dst channel, name too short".to_string(),
                 raw: RawPacket {
                     destination_channel: "p".to_string(),
-                    ..default_raw_msg.clone()
+                    ..default_raw_packet.clone()
                 },
                 want_pass: false,
             },
@@ -429,17 +492,24 @@ mod tests {
                 name: "Bad dst channel, name too long".to_string(),
                 raw: RawPacket {
                     destination_channel: "channel-12839128379182739812739879".to_string(),
-                    ..default_raw_msg.clone()
+                    ..default_raw_packet.clone()
                 },
                 want_pass: false,
             },
+            // Note: `timeout_height == None` is a quirk of protobuf. In
+            // `proto3` syntax, all structs are "nullable" by default and are
+            // represented as `Option<T>`. `ibc-go` defines the protobuf file
+            // with the extension option `gogoproto.nullable = false`, which
+            // means that they will always generate a field. It is left
+            // unspecified what a `None` value means. In this case, I believe it
+            // is best to assume the obvious semantic of "no timeout".
             Test {
                 name: "Missing timeout height".to_string(),
                 raw: RawPacket {
                     timeout_height: None,
-                    ..default_raw_msg
+                    ..default_raw_packet
                 },
-                want_pass: false,
+                want_pass: true,
             },
         ];
 
diff --git a/modules/src/core/ics04_channel/timeout.rs b/modules/src/core/ics04_channel/timeout.rs
new file mode 100644
index 0000000000..ed4a5641f5
--- /dev/null
+++ b/modules/src/core/ics04_channel/timeout.rs
@@ -0,0 +1,185 @@
+use core::fmt::Display;
+
+use serde::{Deserialize, Serialize};
+
+use ibc_proto::ibc::core::client::v1::Height as RawHeight;
+use tendermint::abci::tag::Value as TagValue;
+
+use crate::core::ics02_client::{error::Error as ICS2Error, height::Height};
+use crate::prelude::*;
+
+/// Indicates a consensus height on the destination chain after which the packet
+/// will no longer be processed, and will instead count as having timed-out.
+///
+/// `TimeoutHeight` is treated differently from other heights because
+///
+/// `RawHeight.timeout_height == {revision_number: 0, revision_height = 0}`
+///
+/// is legal and meaningful, even though the Tendermint spec rejects this height
+/// as invalid. Thus, it must be parsed specially, where this special case means
+/// "no timeout".
+#[derive(Clone, Copy, Debug, Hash, Eq, PartialEq)]
+pub enum TimeoutHeight {
+    Never,
+    At(Height),
+}
+
+impl TimeoutHeight {
+    pub fn no_timeout() -> Self {
+        Self::Never
+    }
+
+    /// Revision number to be used in packet commitment computation
+    pub fn commitment_revision_number(&self) -> u64 {
+        match self {
+            Self::At(height) => height.revision_number(),
+            Self::Never => 0,
+        }
+    }
+
+    /// Revision height to be used in packet commitment computation
+    pub fn commitment_revision_height(&self) -> u64 {
+        match self {
+            Self::At(height) => height.revision_height(),
+            Self::Never => 0,
+        }
+    }
+
+    /// Check if a height is *stricly past* the timeout height, and thus is
+    /// deemed expired.
+    pub fn has_expired(&self, height: Height) -> bool {
+        match self {
+            Self::At(timeout_height) => height > *timeout_height,
+            // When there's no timeout, heights are never expired
+            Self::Never => false,
+        }
+    }
+}
+
+impl Default for TimeoutHeight {
+    fn default() -> Self {
+        Self::Never
+    }
+}
+
+impl TryFrom<RawHeight> for TimeoutHeight {
+    type Error = ICS2Error;
+
+    // Note: it is important for `revision_number` to also be `0`, otherwise
+    // packet commitment proofs will be incorrect (proof construction in
+    // `ChannelReader::packet_commitment()` uses both `revision_number` and
+    // `revision_height`). Note also that ibc-go conforms to this convention.
+    fn try_from(raw_height: RawHeight) -> Result<Self, Self::Error> {
+        if raw_height.revision_number == 0 && raw_height.revision_height == 0 {
+            Ok(TimeoutHeight::Never)
+        } else {
+            let height: Height = raw_height.try_into()?;
+            Ok(TimeoutHeight::At(height))
+        }
+    }
+}
+
+impl TryFrom<Option<RawHeight>> for TimeoutHeight {
+    type Error = ICS2Error;
+
+    fn try_from(maybe_raw_height: Option<RawHeight>) -> Result<Self, Self::Error> {
+        match maybe_raw_height {
+            Some(raw_height) => Self::try_from(raw_height),
+            None => Ok(TimeoutHeight::Never),
+        }
+    }
+}
+/// We map "no timeout height" to `Some(RawHeight::zero)` due to a quirk
+/// in ICS-4. See <https://github.com/cosmos/ibc/issues/776>.
+impl From<TimeoutHeight> for Option<RawHeight> {
+    fn from(timeout_height: TimeoutHeight) -> Self {
+        let raw_height = match timeout_height {
+            TimeoutHeight::At(height) => height.into(),
+            TimeoutHeight::Never => RawHeight {
+                revision_number: 0,
+                revision_height: 0,
+            },
+        };
+
+        Some(raw_height)
+    }
+}
+
+impl From<Height> for TimeoutHeight {
+    fn from(height: Height) -> Self {
+        Self::At(height)
+    }
+}
+
+impl From<TimeoutHeight> for TagValue {
+    fn from(timeout_height: TimeoutHeight) -> Self {
+        match timeout_height {
+            TimeoutHeight::At(height) => height.to_string().parse().unwrap(),
+            TimeoutHeight::Never => "0-0".parse().unwrap(),
+        }
+    }
+}
+
+impl Display for TimeoutHeight {
+    fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
+        match self {
+            TimeoutHeight::At(timeout_height) => write!(f, "{}", timeout_height),
+            TimeoutHeight::Never => write!(f, "no timeout"),
+        }
+    }
+}
+
+impl Serialize for TimeoutHeight {
+    fn serialize<S>(&self, serializer: S) -> Result<S::Ok, S::Error>
+    where
+        S: serde::Serializer,
+    {
+        // When there is no timeout, we cannot construct an ICS02 Height with
+        // revision number and height at zero, so we have to define an
+        // isomorphic struct to serialize it as if it were an ICS02 height.
+        #[derive(Serialize)]
+        struct Height {
+            revision_number: u64,
+            revision_height: u64,
+        }
+
+        match self {
+            // If there is no timeout, we use our ad-hoc struct above
+            TimeoutHeight::Never => {
+                let zero = Height {
+                    revision_number: 0,
+                    revision_height: 0,
+                };
+
+                zero.serialize(serializer)
+            }
+            // Otherwise we can directly serialize the underlying height
+            TimeoutHeight::At(height) => height.serialize(serializer),
+        }
+    }
+}
+
+impl<'de> Deserialize<'de> for TimeoutHeight {
+    fn deserialize<D>(deserializer: D) -> Result<Self, D::Error>
+    where
+        D: serde::Deserializer<'de>,
+    {
+        use crate::core::ics02_client::height::Height as Ics02Height;
+
+        // Here we have to use a bespoke struct as well in order to deserialize
+        // a height which may have a revision height equal to zero.
+        #[derive(Deserialize)]
+        struct Height {
+            revision_number: u64,
+            revision_height: u64,
+        }
+
+        Height::deserialize(deserializer).map(|height| {
+            Ics02Height::new(height.revision_number, height.revision_height)
+                // If it's a valid height with a non-zero revision height, then we have a timeout
+                .map(TimeoutHeight::At)
+                // Otherwise, no timeout
+                .unwrap_or(TimeoutHeight::Never)
+        })
+    }
+}
diff --git a/modules/src/core/ics26_routing/handler.rs b/modules/src/core/ics26_routing/handler.rs
index 659eb877be..94f6d64e0c 100644
--- a/modules/src/core/ics26_routing/handler.rs
+++ b/modules/src/core/ics26_routing/handler.rs
@@ -129,6 +129,7 @@ where
 
 #[cfg(test)]
 mod tests {
+    use crate::core::ics04_channel::timeout::TimeoutHeight;
     use crate::prelude::*;
 
     use test_log::test;
@@ -212,15 +213,15 @@ mod tests {
         }
         let default_signer = get_dummy_account_id();
         let client_height = 5;
-        let start_client_height = Height::new(0, client_height);
-        let update_client_height = Height::new(0, 34);
-        let update_client_height_after_send = Height::new(0, 35);
+        let start_client_height = Height::new(0, client_height).unwrap();
+        let update_client_height = Height::new(0, 34).unwrap();
+        let update_client_height_after_send = Height::new(0, 35).unwrap();
 
-        let update_client_height_after_second_send = Height::new(0, 36);
+        let update_client_height_after_second_send = Height::new(0, 36).unwrap();
 
-        let upgrade_client_height = Height::new(1, 2);
+        let upgrade_client_height = Height::new(1, 2).unwrap();
 
-        let upgrade_client_height_second = Height::new(1, 1);
+        let upgrade_client_height_second = Height::new(1, 1).unwrap();
 
         let transfer_module_id: ModuleId = MODULE_ID_STR.parse().unwrap();
 
@@ -291,14 +292,18 @@ mod tests {
             MsgChannelCloseConfirm::try_from(get_dummy_raw_msg_chan_close_confirm(client_height))
                 .unwrap();
 
-        let msg_transfer = get_dummy_msg_transfer(35);
-        let msg_transfer_two = get_dummy_msg_transfer(36);
+        let msg_transfer = get_dummy_msg_transfer(Height::new(0, 35).unwrap().into(), None);
+        let msg_transfer_two = get_dummy_msg_transfer(Height::new(0, 36).unwrap().into(), None);
+        let msg_transfer_no_timeout = get_dummy_msg_transfer(TimeoutHeight::no_timeout(), None);
+        let msg_transfer_no_timeout_or_timestamp = get_dummy_msg_transfer(
+            TimeoutHeight::no_timeout(),
+            Some(Timestamp::from_nanoseconds(0).unwrap()),
+        );
 
         let mut msg_to_on_close =
             MsgTimeoutOnClose::try_from(get_dummy_raw_msg_timeout_on_close(36, 5)).unwrap();
         msg_to_on_close.packet.sequence = 2.into();
-        msg_to_on_close.packet.timeout_height =
-            msg_transfer_two.timeout_height.unwrap_or_else(Height::zero);
+        msg_to_on_close.packet.timeout_height = msg_transfer_two.timeout_height;
         msg_to_on_close.packet.timeout_timestamp = msg_transfer_two.timeout_timestamp;
 
         let denom = msg_transfer_two.token.denom.clone();
@@ -471,6 +476,17 @@ mod tests {
                 .into(),
                 want_pass: true,
             },
+            // Timeout packets
+            Test {
+                name: "Transfer message no timeout".to_string(),
+                msg: msg_transfer_no_timeout.into(),
+                want_pass: true,
+            },
+            Test {
+                name: "Transfer message no timeout nor timestamp".to_string(),
+                msg: msg_transfer_no_timeout_or_timestamp.into(),
+                want_pass: true,
+            },
             //ICS04-close channel
             Test {
                 name: "Channel close init succeeds".to_string(),
diff --git a/modules/src/events.rs b/modules/src/events.rs
index 58e6d54e2b..60a74e337a 100644
--- a/modules/src/events.rs
+++ b/modules/src/events.rs
@@ -12,7 +12,6 @@ use tendermint::abci::Event as AbciEvent;
 use crate::core::ics02_client::error as client_error;
 use crate::core::ics02_client::events as ClientEvents;
 use crate::core::ics02_client::events::NewBlock;
-use crate::core::ics02_client::height::HeightError;
 use crate::core::ics03_connection::events as ConnectionEvents;
 use crate::core::ics03_connection::events::Attributes as ConnectionAttributes;
 use crate::core::ics04_channel::error as channel_error;
@@ -27,7 +26,6 @@ use crate::Height;
 define_error! {
     Error {
         Height
-            [ HeightError ]
             | _ | { "error parsing height" },
 
         Parse
diff --git a/modules/src/mock/client_def.rs b/modules/src/mock/client_def.rs
index 427d7f3e29..2a0d27b201 100644
--- a/modules/src/mock/client_def.rs
+++ b/modules/src/mock/client_def.rs
@@ -62,8 +62,8 @@ impl ClientDef for MockClient {
     ) -> Result<(), Error> {
         let client_prefixed_path = Path::ClientConsensusState(ClientConsensusStatePath {
             client_id: client_id.clone(),
-            epoch: consensus_height.revision_number,
-            height: consensus_height.revision_height,
+            epoch: consensus_height.revision_number(),
+            height: consensus_height.revision_height(),
         })
         .to_string();
 
diff --git a/modules/src/mock/context.rs b/modules/src/mock/context.rs
index 07ed127984..644a059cbd 100644
--- a/modules/src/mock/context.rs
+++ b/modules/src/mock/context.rs
@@ -85,7 +85,7 @@ impl Default for MockContext {
             ChainId::new("mockgaia".to_string(), 0),
             HostType::Mock,
             5,
-            Height::new(0, 5),
+            Height::new(0, 5).unwrap(),
         )
     }
 }
@@ -129,16 +129,17 @@ impl MockContext {
         );
 
         assert_ne!(
-            latest_height.revision_height, 0,
+            latest_height.revision_height(),
+            0,
             "The chain must have a non-zero revision_height"
         );
 
         // Compute the number of blocks to store.
-        let n = min(max_history_size as u64, latest_height.revision_height);
+        let n = min(max_history_size as u64, latest_height.revision_height());
 
         assert_eq!(
             host_id.version(),
-            latest_height.revision_number,
+            latest_height.revision_number(),
             "The version in the chain identifier must match the version in the latest height"
         );
 
@@ -156,7 +157,7 @@ impl MockContext {
                     HostBlock::generate_block(
                         host_id.clone(),
                         host_type,
-                        latest_height.sub(i).unwrap().revision_height,
+                        latest_height.sub(i).unwrap().revision_height(),
                         next_block_timestamp
                             .sub(Duration::from_secs(DEFAULT_BLOCK_TIME_SECS * (i + 1)))
                             .unwrap(),
@@ -202,7 +203,7 @@ impl MockContext {
             ClientType::Tendermint => {
                 let light_block = HostBlock::generate_tm_block(
                     self.host_chain_id.clone(),
-                    cs_height.revision_height,
+                    cs_height.revision_height(),
                     Timestamp::now(),
                 );
 
@@ -254,7 +255,7 @@ impl MockContext {
             ClientType::Tendermint => {
                 let light_block = HostBlock::generate_tm_block(
                     self.host_chain_id.clone(),
-                    cs_height.revision_height,
+                    cs_height.revision_height(),
                     now,
                 );
 
@@ -274,7 +275,7 @@ impl MockContext {
             ClientType::Tendermint => {
                 let light_block = HostBlock::generate_tm_block(
                     self.host_chain_id.clone(),
-                    prev_cs_height.revision_height,
+                    prev_cs_height.revision_height(),
                     now.sub(self.block_time).unwrap(),
                 );
                 AnyConsensusState::from(light_block)
@@ -369,16 +370,16 @@ impl MockContext {
 
     pub fn with_height(self, target_height: Height) -> Self {
         let latest_height = self.latest_height();
-        if target_height.revision_number > latest_height.revision_number {
+        if target_height.revision_number() > latest_height.revision_number() {
             unimplemented!()
-        } else if target_height.revision_number < latest_height.revision_number {
+        } else if target_height.revision_number() < latest_height.revision_number() {
             panic!("Cannot rewind history of the chain to a smaller revision number!")
-        } else if target_height.revision_height < latest_height.revision_height {
+        } else if target_height.revision_height() < latest_height.revision_height() {
             panic!("Cannot rewind history of the chain to a smaller revision height!")
-        } else if target_height.revision_height > latest_height.revision_height {
+        } else if target_height.revision_height() > latest_height.revision_height() {
             // Repeatedly advance the host chain height till we hit the desired height
             let mut ctx = MockContext { ..self };
-            while ctx.latest_height().revision_height < target_height.revision_height {
+            while ctx.latest_height().revision_height() < target_height.revision_height() {
                 ctx.advance_host_chain_height()
             }
             ctx
@@ -408,8 +409,8 @@ impl MockContext {
     /// Accessor for a block of the local (host) chain from this context.
     /// Returns `None` if the block at the requested height does not exist.
     pub fn host_block(&self, target_height: Height) -> Option<&HostBlock> {
-        let target = target_height.revision_height as usize;
-        let latest = self.latest_height().revision_height as usize;
+        let target = target_height.revision_height() as usize;
+        let latest = self.latest_height().revision_height() as usize;
 
         // Check that the block is not too advanced, nor has it been pruned.
         if (target > latest) || (target <= latest - self.history.len()) {
@@ -425,7 +426,7 @@ impl MockContext {
         let new_block = HostBlock::generate_block(
             self.host_chain_id.clone(),
             self.host_chain_type,
-            latest_block.height().increment().revision_height,
+            latest_block.height().increment().revision_height(),
             latest_block.timestamp().add(self.block_time).unwrap(),
         );
 
@@ -1170,7 +1171,7 @@ impl ClientReader for MockContext {
     }
 
     fn pending_host_consensus_state(&self) -> Result<AnyConsensusState, Ics02Error> {
-        Err(Ics02Error::missing_local_consensus_state(Height::zero()))
+        Err(Ics02Error::implementation_specific())
     }
 
     fn client_counter(&self) -> Result<u64, Ics02Error> {
@@ -1345,7 +1346,7 @@ mod tests {
                     ChainId::new("mockgaia".to_string(), cv),
                     HostType::Mock,
                     2,
-                    Height::new(cv, 1),
+                    Height::new(cv, 1).unwrap(),
                 ),
             },
             Test {
@@ -1354,7 +1355,7 @@ mod tests {
                     ChainId::new("mocksgaia".to_string(), cv),
                     HostType::SyntheticTendermint,
                     2,
-                    Height::new(cv, 1),
+                    Height::new(cv, 1).unwrap(),
                 ),
             },
             Test {
@@ -1363,7 +1364,7 @@ mod tests {
                     ChainId::new("mockgaia".to_string(), cv),
                     HostType::Mock,
                     30,
-                    Height::new(cv, 2),
+                    Height::new(cv, 2).unwrap(),
                 ),
             },
             Test {
@@ -1372,7 +1373,7 @@ mod tests {
                     ChainId::new("mocksgaia".to_string(), cv),
                     HostType::SyntheticTendermint,
                     30,
-                    Height::new(cv, 2),
+                    Height::new(cv, 2).unwrap(),
                 ),
             },
             Test {
@@ -1381,7 +1382,7 @@ mod tests {
                     ChainId::new("mockgaia".to_string(), cv),
                     HostType::Mock,
                     3,
-                    Height::new(cv, 30),
+                    Height::new(cv, 30).unwrap(),
                 ),
             },
             Test {
@@ -1390,7 +1391,7 @@ mod tests {
                     ChainId::new("mockgaia".to_string(), cv),
                     HostType::SyntheticTendermint,
                     3,
-                    Height::new(cv, 30),
+                    Height::new(cv, 30).unwrap(),
                 ),
             },
             Test {
@@ -1399,7 +1400,7 @@ mod tests {
                     ChainId::new("mockgaia".to_string(), cv),
                     HostType::Mock,
                     3,
-                    Height::new(cv, 2),
+                    Height::new(cv, 2).unwrap(),
                 ),
             },
             Test {
@@ -1408,7 +1409,7 @@ mod tests {
                     ChainId::new("mockgaia".to_string(), cv),
                     HostType::SyntheticTendermint,
                     3,
-                    Height::new(cv, 2),
+                    Height::new(cv, 2).unwrap(),
                 ),
             },
             Test {
@@ -1417,7 +1418,7 @@ mod tests {
                     ChainId::new("mockgaia".to_string(), cv),
                     HostType::Mock,
                     50,
-                    Height::new(cv, 2000),
+                    Height::new(cv, 2000).unwrap(),
                 ),
             },
             Test {
@@ -1426,7 +1427,7 @@ mod tests {
                     ChainId::new("mockgaia".to_string(), cv),
                     HostType::SyntheticTendermint,
                     50,
-                    Height::new(cv, 2000),
+                    Height::new(cv, 2000).unwrap(),
                 ),
             },
         ];
@@ -1458,15 +1459,14 @@ mod tests {
                 "failed while increasing height for context {:?}",
                 test.ctx
             );
-            if current_height > Height::new(cv, 0) {
-                assert_eq!(
-                    test.ctx.host_block(current_height).unwrap().height(),
-                    current_height,
-                    "failed while fetching height {:?} of context {:?}",
-                    current_height,
-                    test.ctx
-                );
-            }
+
+            assert_eq!(
+                test.ctx.host_block(current_height).unwrap().height(),
+                current_height,
+                "failed while fetching height {:?} of context {:?}",
+                current_height,
+                test.ctx
+            );
         }
     }
 
@@ -1550,7 +1550,7 @@ mod tests {
             ChainId::new("mockgaia".to_string(), 1),
             HostType::Mock,
             1,
-            Height::new(1, 1),
+            Height::new(1, 1).unwrap(),
         )
         .with_router(r);
 
diff --git a/modules/src/mock/header.rs b/modules/src/mock/header.rs
index 381975ae48..a03482d208 100644
--- a/modules/src/mock/header.rs
+++ b/modules/src/mock/header.rs
@@ -12,12 +12,21 @@ use crate::mock::client_state::MockConsensusState;
 use crate::timestamp::Timestamp;
 use crate::Height;
 
-#[derive(Copy, Clone, Default, Debug, Deserialize, PartialEq, Eq, Serialize)]
+#[derive(Copy, Clone, Debug, Deserialize, PartialEq, Eq, Serialize)]
 pub struct MockHeader {
     pub height: Height,
     pub timestamp: Timestamp,
 }
 
+impl Default for MockHeader {
+    fn default() -> Self {
+        Self {
+            height: Height::new(0, 1).unwrap(),
+            timestamp: Default::default(),
+        }
+    }
+}
+
 impl Protobuf<RawMockHeader> for MockHeader {}
 
 impl TryFrom<RawMockHeader> for MockHeader {
@@ -25,7 +34,10 @@ impl TryFrom<RawMockHeader> for MockHeader {
 
     fn try_from(raw: RawMockHeader) -> Result<Self, Self::Error> {
         Ok(MockHeader {
-            height: raw.height.ok_or_else(Error::missing_raw_header)?.into(),
+            height: raw
+                .height
+                .and_then(|raw_height| raw_height.try_into().ok())
+                .ok_or_else(Error::missing_raw_header)?,
 
             timestamp: Timestamp::from_nanoseconds(raw.timestamp)
                 .map_err(Error::invalid_packet_timestamp)?,
@@ -95,7 +107,7 @@ mod tests {
 
     #[test]
     fn encode_any() {
-        let header = MockHeader::new(Height::new(1, 10)).with_timestamp(Timestamp::none());
+        let header = MockHeader::new(Height::new(1, 10).unwrap()).with_timestamp(Timestamp::none());
         let bytes = header.wrap_any().encode_vec().unwrap();
 
         assert_eq!(
diff --git a/modules/src/mock/host.rs b/modules/src/mock/host.rs
index d94b90f893..cc3a813f93 100644
--- a/modules/src/mock/host.rs
+++ b/modules/src/mock/host.rs
@@ -40,7 +40,8 @@ impl HostBlock {
             HostBlock::SyntheticTendermint(light_block) => Height::new(
                 ChainId::chain_version(light_block.signed_header.header.chain_id.as_str()),
                 light_block.signed_header.header.height.value(),
-            ),
+            )
+            .unwrap(),
         }
     }
 
@@ -63,7 +64,7 @@ impl HostBlock {
     ) -> HostBlock {
         match chain_type {
             HostType::Mock => HostBlock::Mock(MockHeader {
-                height: Height::new(chain_id.version(), height),
+                height: Height::new(chain_id.version(), height).unwrap(),
                 timestamp,
             }),
             HostType::SyntheticTendermint => HostBlock::SyntheticTendermint(Box::new(
@@ -117,7 +118,7 @@ impl From<TmLightBlock> for TMHeader {
         TMHeader {
             signed_header: light_block.signed_header,
             validator_set: light_block.validators,
-            trusted_height: Default::default(),
+            trusted_height: Height::new(0, 1).unwrap(),
             trusted_validator_set: light_block.next_validators,
         }
     }
diff --git a/modules/src/proofs.rs b/modules/src/proofs.rs
index 30e84aa726..dead167490 100644
--- a/modules/src/proofs.rs
+++ b/modules/src/proofs.rs
@@ -37,10 +37,6 @@ impl Proofs {
         other_proof: Option<CommitmentProofBytes>,
         height: Height,
     ) -> Result<Self, ProofError> {
-        if height.is_zero() {
-            return Err(ProofError::zero_height());
-        }
-
         Ok(Self {
             object_proof,
             client_proof,
@@ -89,10 +85,6 @@ impl ConsensusProof {
         consensus_proof: CommitmentProofBytes,
         consensus_height: Height,
     ) -> Result<Self, ProofError> {
-        if consensus_height.is_zero() {
-            return Err(ProofError::zero_height());
-        }
-
         Ok(Self {
             proof: consensus_proof,
             height: consensus_height,
diff --git a/modules/src/relayer/ics18_relayer/utils.rs b/modules/src/relayer/ics18_relayer/utils.rs
index 34cd79cd7a..8afa5df569 100644
--- a/modules/src/relayer/ics18_relayer/utils.rs
+++ b/modules/src/relayer/ics18_relayer/utils.rs
@@ -67,10 +67,10 @@ mod tests {
     /// Implements a "ping pong" of client update messages, so that two chains repeatedly
     /// process a client update message and update their height in succession.
     fn client_update_ping_pong() {
-        let chain_a_start_height = Height::new(1, 11);
-        let chain_b_start_height = Height::new(1, 20);
-        let client_on_b_for_a_height = Height::new(1, 10); // Should be smaller than `chain_a_start_height`
-        let client_on_a_for_b_height = Height::new(1, 20); // Should be smaller than `chain_b_start_height`
+        let chain_a_start_height = Height::new(1, 11).unwrap();
+        let chain_b_start_height = Height::new(1, 20).unwrap();
+        let client_on_b_for_a_height = Height::new(1, 10).unwrap(); // Should be smaller than `chain_a_start_height`
+        let client_on_a_for_b_height = Height::new(1, 20).unwrap(); // Should be smaller than `chain_b_start_height`
         let num_iterations = 4;
 
         let client_on_a_for_b = ClientId::new(ClientType::Tendermint, 0).unwrap();
diff --git a/modules/src/test_utils.rs b/modules/src/test_utils.rs
index 9dbbe0596b..d8be3ac7d0 100644
--- a/modules/src/test_utils.rs
+++ b/modules/src/test_utils.rs
@@ -343,7 +343,7 @@ impl ChannelReader for DummyTransferModule {
     }
 
     fn host_height(&self) -> Height {
-        Height::zero()
+        Height::new(0, 1).unwrap()
     }
 
     fn host_consensus_state(&self, _height: Height) -> Result<AnyConsensusState, Error> {
diff --git a/modules/tests/runner/mod.rs b/modules/tests/runner/mod.rs
index 061b1ef81f..0fc772b711 100644
--- a/modules/tests/runner/mod.rs
+++ b/modules/tests/runner/mod.rs
@@ -122,7 +122,7 @@ impl IbcTestRunner {
     }
 
     pub fn chain_id(chain_id: String, height: Height) -> ChainId {
-        ChainId::new(chain_id, height.revision_number)
+        ChainId::new(chain_id, height.revision_number())
     }
 
     pub fn version() -> Version {
@@ -143,7 +143,7 @@ impl IbcTestRunner {
     }
 
     pub fn height(height: Height) -> Height {
-        Height::new(height.revision_number, height.revision_height)
+        Height::new(height.revision_number(), height.revision_height()).unwrap()
     }
 
     fn mock_header(height: Height) -> MockHeader {
diff --git a/relayer-cli/src/commands/keys/list.rs b/relayer-cli/src/commands/keys/list.rs
index 7bd09db4eb..b19ac785d8 100644
--- a/relayer-cli/src/commands/keys/list.rs
+++ b/relayer-cli/src/commands/keys/list.rs
@@ -1,4 +1,5 @@
 use alloc::collections::btree_map::BTreeMap as HashMap;
+use core::fmt::Write;
 
 use abscissa_core::clap::Parser;
 use abscissa_core::{Command, Runnable};
@@ -52,7 +53,7 @@ impl Runnable for KeysListCmd {
             Ok(keys) => {
                 let mut msg = String::new();
                 for (name, key) in keys {
-                    msg.push_str(&format!("\n- {} ({})", name, key.account));
+                    let _ = write!(msg, "\n- {} ({})", name, key.account);
                 }
                 Output::success_msg(msg).exit()
             }
diff --git a/relayer-cli/src/commands/query/channel.rs b/relayer-cli/src/commands/query/channel.rs
index a30c29ef69..5245d9d8b6 100644
--- a/relayer-cli/src/commands/query/channel.rs
+++ b/relayer-cli/src/commands/query/channel.rs
@@ -60,7 +60,10 @@ impl Runnable for QueryChannelEndCmd {
                 port_id: self.port_id.clone(),
                 channel_id: self.channel_id,
                 height: self.height.map_or(QueryHeight::Latest, |revision_height| {
-                    QueryHeight::Specific(ibc::Height::new(chain.id().version(), revision_height))
+                    QueryHeight::Specific(
+                        ibc::Height::new(chain.id().version(), revision_height)
+                            .unwrap_or_else(exit_with_unrecoverable_error),
+                    )
                 }),
             },
             IncludeProof::No,
diff --git a/relayer-cli/src/commands/query/channel_ends.rs b/relayer-cli/src/commands/query/channel_ends.rs
index c667dcf6c4..414e4d518c 100644
--- a/relayer-cli/src/commands/query/channel_ends.rs
+++ b/relayer-cli/src/commands/query/channel_ends.rs
@@ -14,7 +14,7 @@ use ibc_relayer::chain::requests::{
 };
 use ibc_relayer::registry::Registry;
 
-use crate::conclude::Output;
+use crate::conclude::{exit_with_unrecoverable_error, Output};
 use crate::prelude::*;
 
 #[derive(Clone, Command, Debug, Parser)]
@@ -96,7 +96,9 @@ fn do_run<Chain: ChainHandle>(cmd: &QueryChannelEndsCmd) -> Result<(), Box<dyn s
     let chain = registry.get_or_spawn(&chain_id)?;
 
     let chain_height = match cmd.height {
-        Some(height) => Height::new(chain.id().version(), height),
+        Some(height) => {
+            Height::new(chain.id().version(), height).unwrap_or_else(exit_with_unrecoverable_error)
+        }
         None => chain.query_latest_height()?,
     };
 
diff --git a/relayer-cli/src/commands/query/client.rs b/relayer-cli/src/commands/query/client.rs
index 9614085ea8..21038efa1a 100644
--- a/relayer-cli/src/commands/query/client.rs
+++ b/relayer-cli/src/commands/query/client.rs
@@ -59,7 +59,10 @@ impl Runnable for QueryClientStateCmd {
             QueryClientStateRequest {
                 client_id: self.client_id.clone(),
                 height: self.height.map_or(QueryHeight::Latest, |revision_height| {
-                    QueryHeight::Specific(ibc::Height::new(chain.id().version(), revision_height))
+                    QueryHeight::Specific(
+                        ibc::Height::new(chain.id().version(), revision_height)
+                            .unwrap_or_else(exit_with_unrecoverable_error),
+                    )
                 }),
             },
             IncludeProof::No,
@@ -135,7 +138,8 @@ impl Runnable for QueryClientConsensusCmd {
 
         match self.consensus_height {
             Some(cs_height) => {
-                let consensus_height = ibc::Height::new(counterparty_chain.version(), cs_height);
+                let consensus_height = ibc::Height::new(counterparty_chain.version(), cs_height)
+                    .unwrap_or_else(exit_with_unrecoverable_error);
 
                 let res = chain
                     .query_consensus_state(
@@ -145,10 +149,10 @@ impl Runnable for QueryClientConsensusCmd {
                             query_height: self.height.map_or(
                                 QueryHeight::Latest,
                                 |revision_height| {
-                                    QueryHeight::Specific(ibc::Height::new(
-                                        chain.id().version(),
-                                        revision_height,
-                                    ))
+                                    QueryHeight::Specific(
+                                        ibc::Height::new(chain.id().version(), revision_height)
+                                            .unwrap_or_else(exit_with_unrecoverable_error),
+                                    )
                                 },
                             ),
                         },
@@ -212,7 +216,7 @@ pub struct QueryClientHeaderCmd {
     #[clap(
         long = "height",
         value_name = "HEIGHT",
-        help = "The chain height context for the query"
+        help = "The chain height context for the query. Leave unspecified for latest height."
     )]
     height: Option<u64>,
 }
@@ -244,12 +248,14 @@ impl Runnable for QueryClientHeaderCmd {
         };
 
         let consensus_height =
-            ibc::Height::new(counterparty_chain.version(), self.consensus_height);
+            ibc::Height::new(counterparty_chain.version(), self.consensus_height)
+                .unwrap_or_else(exit_with_unrecoverable_error);
 
         let query_height = match self.height {
-            Some(revision_height) => {
-                QueryHeight::Specific(Height::new(chain.id().version(), revision_height))
-            }
+            Some(revision_height) => QueryHeight::Specific(
+                Height::new(chain.id().version(), revision_height)
+                    .unwrap_or_else(exit_with_unrecoverable_error),
+            ),
             None => QueryHeight::Latest,
         };
 
diff --git a/relayer-cli/src/commands/query/connection.rs b/relayer-cli/src/commands/query/connection.rs
index bce0250934..6e6fb60ef1 100644
--- a/relayer-cli/src/commands/query/connection.rs
+++ b/relayer-cli/src/commands/query/connection.rs
@@ -38,7 +38,7 @@ pub struct QueryConnectionEndCmd {
     #[clap(
         long = "height",
         value_name = "HEIGHT",
-        help = "Height of the state to query"
+        help = "Height of the state to query. Leave unspecified for latest height."
     )]
     height: Option<u64>,
 }
@@ -57,7 +57,10 @@ impl Runnable for QueryConnectionEndCmd {
             QueryConnectionRequest {
                 connection_id: self.connection_id.clone(),
                 height: self.height.map_or(QueryHeight::Latest, |revision_height| {
-                    QueryHeight::Specific(ibc::Height::new(chain.id().version(), revision_height))
+                    QueryHeight::Specific(
+                        ibc::Height::new(chain.id().version(), revision_height)
+                            .unwrap_or_else(exit_with_unrecoverable_error),
+                    )
                 }),
             },
             IncludeProof::No,
diff --git a/relayer-cli/src/commands/query/packet/ack.rs b/relayer-cli/src/commands/query/packet/ack.rs
index a7acd62e39..b255970e52 100644
--- a/relayer-cli/src/commands/query/packet/ack.rs
+++ b/relayer-cli/src/commands/query/packet/ack.rs
@@ -8,7 +8,7 @@ use ibc::core::ics24_host::identifier::{ChainId, ChannelId, PortId};
 use ibc_relayer::chain::handle::ChainHandle;
 
 use crate::cli_utils::spawn_chain_runtime;
-use crate::conclude::Output;
+use crate::conclude::{exit_with_unrecoverable_error, Output};
 use crate::error::Error;
 use crate::prelude::*;
 
@@ -51,7 +51,7 @@ pub struct QueryPacketAcknowledgmentCmd {
     #[clap(
         long = "height",
         value_name = "HEIGHT",
-        help = "Height of the state to query"
+        help = "Height of the state to query. Leave unspecified for latest height."
     )]
     height: Option<u64>,
 }
@@ -71,10 +71,10 @@ impl QueryPacketAcknowledgmentCmd {
                     channel_id: self.channel_id,
                     sequence: self.sequence,
                     height: self.height.map_or(QueryHeight::Latest, |revision_height| {
-                        QueryHeight::Specific(ibc::Height::new(
-                            chain.id().version(),
-                            revision_height,
-                        ))
+                        QueryHeight::Specific(
+                            ibc::Height::new(chain.id().version(), revision_height)
+                                .unwrap_or_else(exit_with_unrecoverable_error),
+                        )
                     }),
                 },
                 IncludeProof::No,
diff --git a/relayer-cli/src/commands/query/packet/commitment.rs b/relayer-cli/src/commands/query/packet/commitment.rs
index 3df8986f3c..64535352a2 100644
--- a/relayer-cli/src/commands/query/packet/commitment.rs
+++ b/relayer-cli/src/commands/query/packet/commitment.rs
@@ -10,7 +10,7 @@ use ibc::Height;
 use ibc_relayer::chain::handle::ChainHandle;
 
 use crate::cli_utils::spawn_chain_runtime;
-use crate::conclude::Output;
+use crate::conclude::{exit_with_unrecoverable_error, Output};
 use crate::error::Error;
 use crate::prelude::*;
 
@@ -59,7 +59,7 @@ pub struct QueryPacketCommitmentCmd {
     #[clap(
         long = "height",
         value_name = "HEIGHT",
-        help = "Height of the state to query"
+        help = "Height of the state to query. Leave unspecified for latest height."
     )]
     height: Option<u64>,
 }
@@ -79,10 +79,10 @@ impl QueryPacketCommitmentCmd {
                     channel_id: self.channel_id,
                     sequence: self.sequence,
                     height: self.height.map_or(QueryHeight::Latest, |revision_height| {
-                        QueryHeight::Specific(ibc::Height::new(
-                            chain.id().version(),
-                            revision_height,
-                        ))
+                        QueryHeight::Specific(
+                            ibc::Height::new(chain.id().version(), revision_height)
+                                .unwrap_or_else(exit_with_unrecoverable_error),
+                        )
                     }),
                 },
                 IncludeProof::No,
diff --git a/relayer-cli/src/commands/tx/client.rs b/relayer-cli/src/commands/tx/client.rs
index 54745f1cf9..459eec5d48 100644
--- a/relayer-cli/src/commands/tx/client.rs
+++ b/relayer-cli/src/commands/tx/client.rs
@@ -122,14 +122,14 @@ pub struct TxUpdateClientCmd {
     #[clap(
         long = "height",
         value_name = "REFERENCE_HEIGHT",
-        help = "The target height of the client update"
+        help = "The target height of the client update. Leave unspecified for latest height."
     )]
     target_height: Option<u64>,
 
     #[clap(
         long = "trusted-height",
         value_name = "REFERENCE_TRUSTED_HEIGHT",
-        help = "The trusted height of the client update"
+        help = "The trusted height of the client update. Leave unspecified for latest height."
     )]
     trusted_height: Option<u64>,
 }
@@ -166,12 +166,16 @@ impl Runnable for TxUpdateClientCmd {
         };
 
         let target_height = self.target_height.map_or(QueryHeight::Latest, |height| {
-            QueryHeight::Specific(Height::new(src_chain.id().version(), height))
+            QueryHeight::Specific(
+                Height::new(src_chain.id().version(), height)
+                    .unwrap_or_else(exit_with_unrecoverable_error),
+            )
         });
 
-        let trusted_height = self
-            .trusted_height
-            .map(|height| Height::new(src_chain.id().version(), height));
+        let trusted_height = self.trusted_height.map(|height| {
+            Height::new(src_chain.id().version(), height)
+                .unwrap_or_else(exit_with_unrecoverable_error)
+        });
 
         let client = ForeignClient::find(src_chain, dst_chain, &self.dst_client_id)
             .unwrap_or_else(exit_with_unrecoverable_error);
diff --git a/relayer-cli/src/commands/tx/transfer.rs b/relayer-cli/src/commands/tx/transfer.rs
index a8baa44ba4..387774c7f6 100644
--- a/relayer-cli/src/commands/tx/transfer.rs
+++ b/relayer-cli/src/commands/tx/transfer.rs
@@ -142,14 +142,6 @@ impl TxIcs20MsgTransferCmd {
             return Err("number of messages should be greater than zero".into());
         }
 
-        if self.timeout_height_offset == 0 && self.timeout_seconds == 0 {
-            return Err(
-                "packet timeout height and packet timeout timestamp cannot both be 0, \
-                please specify either --timeout-height-offset or --timeout-seconds"
-                    .into(),
-            );
-        }
-
         let opts = TransferOptions {
             packet_src_port_id: self.src_port_id.clone(),
             packet_src_channel_id: self.src_channel_id,
diff --git a/relayer/src/chain/cosmos.rs b/relayer/src/chain/cosmos.rs
index d1c6f3219a..9ec187bb88 100644
--- a/relayer/src/chain/cosmos.rs
+++ b/relayer/src/chain/cosmos.rs
@@ -173,7 +173,7 @@ impl CosmosSdkChain {
         }
 
         // Get the latest height and convert to tendermint Height
-        let latest_height = TmHeight::try_from(self.query_chain_latest_height()?.revision_height)
+        let latest_height = TmHeight::try_from(self.query_chain_latest_height()?.revision_height())
             .map_err(Error::invalid_height)?;
 
         // Check on the configured max_tx_size against the consensus parameters at latest height
@@ -347,7 +347,7 @@ impl CosmosSdkChain {
             &self.config.rpc_addr,
             path,
             Path::Upgrade(query_data).to_string(),
-            TmHeight::try_from(query_height.revision_height).map_err(Error::invalid_height)?,
+            TmHeight::try_from(query_height.revision_height()).map_err(Error::invalid_height)?,
             true,
         ))?;
 
@@ -712,10 +712,11 @@ impl ChainEndpoint for CosmosSdkChain {
             .block_metas;
 
         return if let Some(latest_app_block) = blocks.first() {
-            let height = ICSHeight {
-                revision_number: ChainId::chain_version(latest_app_block.header.chain_id.as_str()),
-                revision_height: u64::from(abci_info.last_block_height),
-            };
+            let height = ICSHeight::new(
+                ChainId::chain_version(latest_app_block.header.chain_id.as_str()),
+                u64::from(abci_info.last_block_height),
+            )
+            .map_err(|_| Error::invalid_height_no_source())?;
             let timestamp = latest_app_block.header.time.into();
 
             Ok(ChainStatus { height, timestamp })
@@ -799,7 +800,7 @@ impl ChainEndpoint for CosmosSdkChain {
             .map_err(|_| Error::invalid_height_no_source())?;
 
         let (upgraded_client_state_raw, proof) = self.query_client_upgrade_state(
-            ClientUpgradePath::UpgradedClientState(upgrade_height.revision_height),
+            ClientUpgradePath::UpgradedClientState(upgrade_height.revision_height()),
             query_height,
         )?;
 
@@ -823,7 +824,7 @@ impl ChainEndpoint for CosmosSdkChain {
 
         // Fetch the consensus state and its proof.
         let (upgraded_consensus_state_raw, proof) = self.query_client_upgrade_state(
-            ClientUpgradePath::UpgradedClientConsensusState(upgrade_height.revision_height),
+            ClientUpgradePath::UpgradedClientConsensusState(upgrade_height.revision_height()),
             query_height,
         )?;
 
@@ -876,8 +877,8 @@ impl ChainEndpoint for CosmosSdkChain {
         let res = self.query(
             ClientConsensusStatePath {
                 client_id: request.client_id.clone(),
-                epoch: request.consensus_height.revision_number,
-                height: request.consensus_height.revision_height,
+                epoch: request.consensus_height.revision_number(),
+                height: request.consensus_height.revision_height(),
             },
             request.query_height,
             matches!(include_proof, IncludeProof::Yes),
@@ -1223,8 +1224,8 @@ impl ChainEndpoint for CosmosSdkChain {
 
         let height = response
             .height
-            .ok_or_else(|| Error::grpc_response_param("height".to_string()))?
-            .into();
+            .and_then(|raw_height| raw_height.try_into().ok())
+            .ok_or_else(|| Error::grpc_response_param("height".to_string()))?;
 
         Ok((commitment_sequences, height))
     }
@@ -1341,8 +1342,8 @@ impl ChainEndpoint for CosmosSdkChain {
 
         let height = response
             .height
-            .ok_or_else(|| Error::grpc_response_param("height".to_string()))?
-            .into();
+            .and_then(|raw_height| raw_height.try_into().ok())
+            .ok_or_else(|| Error::grpc_response_param("height".to_string()))?;
 
         Ok((acks_sequences, height))
     }
@@ -1480,7 +1481,8 @@ impl ChainEndpoint for CosmosSdkChain {
 
                     if let Some(block) = response.blocks.first().map(|first| &first.block) {
                         let response_height =
-                            ICSHeight::new(self.id().version(), u64::from(block.header.height));
+                            ICSHeight::new(self.id().version(), u64::from(block.header.height))
+                                .map_err(|_| Error::invalid_height_no_source())?;
 
                         if let QueryHeight::Specific(query_height) = request.height {
                             if response_height > query_height {
@@ -1523,7 +1525,7 @@ impl ChainEndpoint for CosmosSdkChain {
         let height = match request.height {
             QueryHeight::Latest => TmHeight::from(0u32),
             QueryHeight::Specific(ibc_height) => {
-                TmHeight::try_from(ibc_height.revision_height).map_err(Error::invalid_height)?
+                TmHeight::try_from(ibc_height.revision_height()).map_err(Error::invalid_height)?
             }
         };
 
@@ -1748,15 +1750,21 @@ mod tests {
         let mut clients: Vec<IdentifiedAnyClientState> = vec![
             IdentifiedAnyClientState::new(
                 ClientId::new(ClientType::Tendermint, 4).unwrap(),
-                AnyClientState::Mock(MockClientState::new(MockHeader::new(Height::new(0, 0)))),
+                AnyClientState::Mock(MockClientState::new(MockHeader::new(
+                    Height::new(0, 1).unwrap(),
+                ))),
             ),
             IdentifiedAnyClientState::new(
                 ClientId::new(ClientType::Tendermint, 1).unwrap(),
-                AnyClientState::Mock(MockClientState::new(MockHeader::new(Height::new(0, 0)))),
+                AnyClientState::Mock(MockClientState::new(MockHeader::new(
+                    Height::new(0, 1).unwrap(),
+                ))),
             ),
             IdentifiedAnyClientState::new(
                 ClientId::new(ClientType::Tendermint, 7).unwrap(),
-                AnyClientState::Mock(MockClientState::new(MockHeader::new(Height::new(0, 0)))),
+                AnyClientState::Mock(MockClientState::new(MockHeader::new(
+                    Height::new(0, 1).unwrap(),
+                ))),
             ),
         ];
         clients.sort_by_cached_key(|c| client_id_suffix(&c.client_id).unwrap_or(0));
diff --git a/relayer/src/chain/cosmos/query.rs b/relayer/src/chain/cosmos/query.rs
index 087f5d963b..18052561a5 100644
--- a/relayer/src/chain/cosmos/query.rs
+++ b/relayer/src/chain/cosmos/query.rs
@@ -59,7 +59,8 @@ pub fn header_query(request: &QueryClientEventRequest) -> Query {
         format!("{}.consensus_height", request.event_id.as_str()),
         format!(
             "{}-{}",
-            request.consensus_height.revision_number, request.consensus_height.revision_height
+            request.consensus_height.revision_number(),
+            request.consensus_height.revision_height()
         ),
     )
 }
diff --git a/relayer/src/chain/cosmos/query/status.rs b/relayer/src/chain/cosmos/query/status.rs
index 2978f4ff43..c0bd82130d 100644
--- a/relayer/src/chain/cosmos/query/status.rs
+++ b/relayer/src/chain/cosmos/query/status.rs
@@ -28,10 +28,11 @@ pub async fn query_status(
 
     let time = response.sync_info.latest_block_time;
 
-    let height = Height {
-        revision_number: ChainId::chain_version(response.node_info.network.as_str()),
-        revision_height: u64::from(response.sync_info.latest_block_height),
-    };
+    let height = Height::new(
+        ChainId::chain_version(response.node_info.network.as_str()),
+        u64::from(response.sync_info.latest_block_height),
+    )
+    .map_err(|_| Error::invalid_height_no_source())?;
 
     Ok(ChainStatus {
         height,
diff --git a/relayer/src/chain/cosmos/query/tx.rs b/relayer/src/chain/cosmos/query/tx.rs
index 500986bafb..8a1f3b64f5 100644
--- a/relayer/src/chain/cosmos/query/tx.rs
+++ b/relayer/src/chain/cosmos/query/tx.rs
@@ -67,7 +67,7 @@ pub async fn query_txs(
                     &request,
                     *seq,
                     response.txs[0].clone(),
-                ) {
+                )? {
                     result.push(event);
                 }
             }
@@ -105,7 +105,7 @@ pub async fn query_txs(
             );
 
             let tx = response.txs.remove(0);
-            let event = update_client_from_tx_search_response(chain_id, &request, tx);
+            let event = update_client_from_tx_search_response(chain_id, &request, tx)?;
 
             Ok(event.into_iter().collect())
         }
@@ -144,16 +144,17 @@ fn update_client_from_tx_search_response(
     chain_id: &ChainId,
     request: &QueryClientEventRequest,
     response: ResultTx,
-) -> Option<IbcEvent> {
-    let height = ICSHeight::new(chain_id.version(), u64::from(response.height));
+) -> Result<Option<IbcEvent>, Error> {
+    let height = ICSHeight::new(chain_id.version(), u64::from(response.height))
+        .map_err(|_| Error::invalid_height_no_source())?;
 
     if let QueryHeight::Specific(specific_query_height) = request.query_height {
         if height > specific_query_height {
-            return None;
+            return Ok(None);
         }
     };
 
-    response
+    Ok(response
         .tx_result
         .events
         .into_iter()
@@ -170,7 +171,7 @@ fn update_client_from_tx_search_response(
             update.common.client_id == request.client_id
                 && update.common.consensus_height == request.consensus_height
         })
-        .map(IbcEvent::UpdateClient)
+        .map(IbcEvent::UpdateClient))
 }
 
 // Extract the packet events from the query_txs RPC response. For any given
@@ -185,19 +186,21 @@ fn packet_from_tx_search_response(
     request: &QueryPacketEventDataRequest,
     seq: Sequence,
     response: ResultTx,
-) -> Option<IbcEvent> {
-    let height = ICSHeight::new(chain_id.version(), u64::from(response.height));
+) -> Result<Option<IbcEvent>, Error> {
+    let height = ICSHeight::new(chain_id.version(), u64::from(response.height))
+        .map_err(|_| Error::invalid_height_no_source())?;
+
     if let QueryHeight::Specific(query_height) = request.height {
         if height > query_height {
-            return None;
+            return Ok(None);
         }
     }
 
-    response
+    Ok(response
         .tx_result
         .events
         .into_iter()
-        .find_map(|ev| filter_matching_event(ev, request, seq))
+        .find_map(|ev| filter_matching_event(ev, request, seq)))
 }
 
 fn filter_matching_event(
@@ -236,7 +239,7 @@ fn filter_matching_event(
 }
 
 fn all_ibc_events_from_tx_search_response(chain_id: &ChainId, response: ResultTx) -> Vec<IbcEvent> {
-    let height = ICSHeight::new(chain_id.version(), u64::from(response.height));
+    let height = ICSHeight::new(chain_id.version(), u64::from(response.height)).unwrap();
     let deliver_tx_result = response.tx_result;
     if deliver_tx_result.code.is_err() {
         return vec![IbcEvent::ChainError(format!(
diff --git a/relayer/src/chain/mock.rs b/relayer/src/chain/mock.rs
index 544a207c6c..fe47ba9841 100644
--- a/relayer/src/chain/mock.rs
+++ b/relayer/src/chain/mock.rs
@@ -90,7 +90,7 @@ impl ChainEndpoint for MockChain {
                 config.id.clone(),
                 HostType::SyntheticTendermint,
                 50,
-                Height::new(config.id.version(), 20),
+                Height::new(config.id.version(), 20).unwrap(),
             ),
             _event_sender: sender,
             event_receiver: receiver,
diff --git a/relayer/src/chain/requests.rs b/relayer/src/chain/requests.rs
index 705e9d9935..648d11df22 100644
--- a/relayer/src/chain/requests.rs
+++ b/relayer/src/chain/requests.rs
@@ -46,7 +46,7 @@ impl TryFrom<QueryHeight> for TMBlockHeight {
     fn try_from(height_query: QueryHeight) -> Result<Self, Self::Error> {
         let height = match height_query {
             QueryHeight::Latest => 0u64,
-            QueryHeight::Specific(height) => height.revision_height,
+            QueryHeight::Specific(height) => height.revision_height(),
         };
 
         Self::try_from(height).map_err(Error::invalid_height)
@@ -59,7 +59,7 @@ impl TryFrom<QueryHeight> for AsciiMetadataValue {
     fn try_from(height_query: QueryHeight) -> Result<Self, Self::Error> {
         let height = match height_query {
             QueryHeight::Latest => 0u64,
-            QueryHeight::Specific(height) => height.revision_height,
+            QueryHeight::Specific(height) => height.revision_height(),
         };
 
         str::parse(&height.to_string()).map_err(Error::invalid_metadata)
diff --git a/relayer/src/event/rpc.rs b/relayer/src/event/rpc.rs
index 561e078a44..f3807bcd7c 100644
--- a/relayer/src/event/rpc.rs
+++ b/relayer/src/event/rpc.rs
@@ -128,7 +128,8 @@ pub fn get_all_events(
             let height = Height::new(
                 ChainId::chain_version(chain_id.to_string().as_str()),
                 u64::from(block.as_ref().ok_or("tx.height")?.header.height),
-            );
+            )
+            .map_err(|_| String::from("tx.height: invalid header height of 0"))?;
 
             vals.push((height, ClientEvents::NewBlock::new(height).into()));
             vals.append(&mut extract_block_events(height, &events));
@@ -137,7 +138,8 @@ pub fn get_all_events(
             let height = Height::new(
                 ChainId::chain_version(chain_id.to_string().as_str()),
                 tx_result.height as u64,
-            );
+            )
+            .map_err(|_| String::from("tx_result.height: invalid header height of 0"))?;
 
             for abci_event in &tx_result.result.events {
                 if query == queries::ibc_client().to_string() {
diff --git a/relayer/src/light_client/mock.rs b/relayer/src/light_client/mock.rs
index de056e340e..4dd484c532 100644
--- a/relayer/src/light_client/mock.rs
+++ b/relayer/src/light_client/mock.rs
@@ -29,7 +29,7 @@ impl LightClient {
 
     /// Returns a LightBlock at the requested height `h`.
     fn light_block(&self, h: Height) -> TmLightBlock {
-        HostBlock::generate_tm_block(self.chain_id.clone(), h.revision_height, Timestamp::now())
+        HostBlock::generate_tm_block(self.chain_id.clone(), h.revision_height(), Timestamp::now())
     }
 }
 
diff --git a/relayer/src/light_client/tendermint.rs b/relayer/src/light_client/tendermint.rs
index 2e6ca90377..2e745d6f08 100644
--- a/relayer/src/light_client/tendermint.rs
+++ b/relayer/src/light_client/tendermint.rs
@@ -62,7 +62,7 @@ impl super::LightClient<CosmosSdkChain> for LightClient {
         trace!(%trusted, %target, "light client verification");
 
         let target_height =
-            TMHeight::try_from(target.revision_height).map_err(Error::invalid_height)?;
+            TMHeight::try_from(target.revision_height()).map_err(Error::invalid_height)?;
 
         let client = self.prepare_client(client_state)?;
         let mut state = self.prepare_state(trusted)?;
@@ -89,7 +89,7 @@ impl super::LightClient<CosmosSdkChain> for LightClient {
     fn fetch(&mut self, height: ibc::Height) -> Result<LightBlock, Error> {
         trace!(%height, "fetching header");
 
-        let height = TMHeight::try_from(height.revision_height).map_err(Error::invalid_height)?;
+        let height = TMHeight::try_from(height.revision_height()).map_err(Error::invalid_height)?;
 
         self.fetch_light_block(AtHeight::At(height))
     }
@@ -122,7 +122,8 @@ impl super::LightClient<CosmosSdkChain> for LightClient {
 
         let latest_chain_block = self.fetch_light_block(AtHeight::Highest)?;
         let latest_chain_height =
-            ibc::Height::new(self.chain_id.version(), latest_chain_block.height().into());
+            ibc::Height::new(self.chain_id.version(), latest_chain_block.height().into())
+                .map_err(|_| Error::invalid_height_no_source())?;
 
         // set the target height to the minimum between the update height and latest chain height
         let target_height = core::cmp::min(update.consensus_height(), latest_chain_height);
@@ -211,7 +212,7 @@ impl LightClient {
 
     fn prepare_state(&self, trusted: ibc::Height) -> Result<LightClientState, Error> {
         let trusted_height =
-            TMHeight::try_from(trusted.revision_height).map_err(Error::invalid_height)?;
+            TMHeight::try_from(trusted.revision_height()).map_err(Error::invalid_height)?;
 
         let trusted_block = self.fetch_light_block(AtHeight::At(trusted_height))?;
 
diff --git a/relayer/src/link/operational_data.rs b/relayer/src/link/operational_data.rs
index f136f17d89..b2d94de0b6 100644
--- a/relayer/src/link/operational_data.rs
+++ b/relayer/src/link/operational_data.rs
@@ -360,8 +360,8 @@ impl ConnectionDelay {
         if latest_height >= acceptable_height {
             0
         } else {
-            debug_assert!(acceptable_height.revision_number == latest_height.revision_number);
-            acceptable_height.revision_height - latest_height.revision_height
+            debug_assert!(acceptable_height.revision_number() == latest_height.revision_number());
+            acceptable_height.revision_height() - latest_height.revision_height()
         }
     }
 
diff --git a/relayer/src/link/relay_path.rs b/relayer/src/link/relay_path.rs
index a69c9e39ab..9bce02cf54 100644
--- a/relayer/src/link/relay_path.rs
+++ b/relayer/src/link/relay_path.rs
@@ -1738,7 +1738,7 @@ impl<ChainA: ChainHandle, ChainB: ChainHandle> RelayPath<ChainA, ChainB> {
             IbcEvent::SendPacket(send_packet_ev) => {
                 ibc_telemetry::global().record_send_history(
                     send_packet_ev.packet.sequence.into(),
-                    send_packet_ev.height().revision_height,
+                    send_packet_ev.height().revision_height(),
                     &self.src_chain().id(),
                     self.src_channel_id(),
                     self.src_port_id(),
@@ -1748,7 +1748,7 @@ impl<ChainA: ChainHandle, ChainB: ChainHandle> RelayPath<ChainA, ChainB> {
             IbcEvent::WriteAcknowledgement(write_ack_ev) => {
                 ibc_telemetry::global().record_ack_history(
                     write_ack_ev.packet.sequence.into(),
-                    write_ack_ev.height().revision_height,
+                    write_ack_ev.height().revision_height(),
                     &self.dst_chain().id(),
                     self.dst_channel_id(),
                     self.dst_port_id(),
@@ -1765,7 +1765,7 @@ impl<ChainA: ChainHandle, ChainB: ChainHandle> RelayPath<ChainA, ChainB> {
             IbcEvent::SendPacket(send_packet_ev) => {
                 ibc_telemetry::global().send_packet_count(
                     send_packet_ev.packet.sequence.into(),
-                    send_packet_ev.height().revision_height,
+                    send_packet_ev.height().revision_height(),
                     &self.src_chain().id(),
                     self.src_channel_id(),
                     self.src_port_id(),
@@ -1773,7 +1773,7 @@ impl<ChainA: ChainHandle, ChainB: ChainHandle> RelayPath<ChainA, ChainB> {
                 );
                 ibc_telemetry::global().cleared_count(
                     send_packet_ev.packet.sequence.into(),
-                    send_packet_ev.height().revision_height,
+                    send_packet_ev.height().revision_height(),
                     &self.src_chain().id(),
                     self.src_channel_id(),
                     self.src_port_id(),
@@ -1783,7 +1783,7 @@ impl<ChainA: ChainHandle, ChainB: ChainHandle> RelayPath<ChainA, ChainB> {
             IbcEvent::WriteAcknowledgement(write_ack_ev) => {
                 ibc_telemetry::global().acknowledgement_count(
                     write_ack_ev.packet.sequence.into(),
-                    write_ack_ev.height().revision_height,
+                    write_ack_ev.height().revision_height(),
                     &self.dst_chain().id(),
                     self.src_channel_id(),
                     self.src_port_id(),
diff --git a/relayer/src/supervisor.rs b/relayer/src/supervisor.rs
index 679245f6b1..2ea8144678 100644
--- a/relayer/src/supervisor.rs
+++ b/relayer/src/supervisor.rs
@@ -656,7 +656,7 @@ fn process_batch<Chain: ChainHandle>(
                         IbcEvent::SendPacket(send_packet_ev) => {
                             ibc_telemetry::global().send_packet_count(
                                 send_packet_ev.packet.sequence.into(),
-                                send_packet_ev.height().revision_height,
+                                send_packet_ev.height().revision_height(),
                                 &src.id(),
                                 &_path.src_channel_id,
                                 &_path.src_port_id,
@@ -666,7 +666,7 @@ fn process_batch<Chain: ChainHandle>(
                         IbcEvent::WriteAcknowledgement(write_ack_ev) => {
                             ibc_telemetry::global().acknowledgement_count(
                                 write_ack_ev.packet.sequence.into(),
-                                write_ack_ev.height().revision_height,
+                                write_ack_ev.height().revision_height(),
                                 &dst.id(),
                                 &_path.src_channel_id,
                                 &_path.src_port_id,
diff --git a/relayer/src/transfer.rs b/relayer/src/transfer.rs
index 041f2baa1e..89c7222c73 100644
--- a/relayer/src/transfer.rs
+++ b/relayer/src/transfer.rs
@@ -4,12 +4,12 @@ use flex_error::{define_error, DetailOnly};
 use ibc::applications::transfer::error::Error as Ics20Error;
 use ibc::applications::transfer::msgs::transfer::MsgTransfer;
 use ibc::applications::transfer::Amount;
+use ibc::core::ics04_channel::timeout::TimeoutHeight;
 use ibc::core::ics24_host::identifier::{ChainId, ChannelId, PortId};
 use ibc::events::IbcEvent;
 use ibc::signer::Signer;
 use ibc::timestamp::{Timestamp, TimestampOverflowError};
 use ibc::tx_msg::Msg;
-use ibc::Height;
 use ibc_proto::cosmos::base::v1beta1::Coin;
 use ibc_proto::google::protobuf::Any;
 
@@ -65,7 +65,7 @@ define_error! {
 
 #[derive(Copy, Clone)]
 pub struct TransferTimeout {
-    pub timeout_height: Option<Height>,
+    pub timeout_height: TimeoutHeight,
     pub timeout_timestamp: Timestamp,
 }
 
@@ -86,9 +86,12 @@ impl TransferTimeout {
         destination_chain_status: &ChainStatus,
     ) -> Result<Self, TransferError> {
         let timeout_height = if timeout_height_offset == 0 {
-            None
+            TimeoutHeight::no_timeout()
         } else {
-            Some(destination_chain_status.height.add(timeout_height_offset))
+            destination_chain_status
+                .height
+                .add(timeout_height_offset)
+                .into()
         };
 
         let timeout_timestamp = if timeout_duration == Duration::ZERO {
@@ -124,7 +127,7 @@ pub fn build_transfer_message(
     denom: String,
     sender: Signer,
     receiver: Signer,
-    timeout_height: Option<Height>,
+    timeout_height: TimeoutHeight,
     timeout_timestamp: Timestamp,
 ) -> Any {
     let msg = MsgTransfer {
diff --git a/relayer/src/upgrade_chain.rs b/relayer/src/upgrade_chain.rs
index 6d0855c877..ee8db31819 100644
--- a/relayer/src/upgrade_chain.rs
+++ b/relayer/src/upgrade_chain.rs
@@ -106,7 +106,7 @@ pub fn build_and_send_ibc_upgrade_proposal(
         upgraded_client_state: Some(Any::from(upgraded_client_state.wrap_any())),
         plan: Some(Plan {
             name: opts.upgrade_plan_name.clone(),
-            height: upgrade_height.revision_height as i64,
+            height: upgrade_height.revision_height() as i64,
             info: "".to_string(),
             ..Default::default() // deprecated fields - time & upgraded_client_state
         }),
diff --git a/relayer/src/worker/map.rs b/relayer/src/worker/map.rs
index ad426f5b80..0347d1806a 100644
--- a/relayer/src/worker/map.rs
+++ b/relayer/src/worker/map.rs
@@ -58,7 +58,7 @@ impl WorkerMap {
                     "waiting for worker loop to end"
                 );
 
-                let _ = handle.join();
+                handle.join();
 
                 trace!(
                     worker.id = %id, worker.object = %object.short_name(),
@@ -109,7 +109,7 @@ impl WorkerMap {
         for worker in self.to_notify(src_chain_id) {
             // Ignore send error if the worker task handling
             // NewBlock cmd has been terminated.
-            let _ = worker.send_new_block(height, new_block);
+            worker.send_new_block(height, new_block);
         }
     }
 
diff --git a/relayer/src/worker/packet.rs b/relayer/src/worker/packet.rs
index ff4d5e4530..685741c935 100644
--- a/relayer/src/worker/packet.rs
+++ b/relayer/src/worker/packet.rs
@@ -158,7 +158,7 @@ fn handle_packet_cmd<ChainA: ChainHandle, ChainB: ChainHandle>(
 /// If the specified height is reached, then packets are cleared if `clear_interval`
 /// is not `0` and if we have reached the interval.
 fn should_clear_packets(clear_interval: u64, height: Height) -> bool {
-    clear_interval != 0 && height.revision_height % clear_interval == 0
+    clear_interval != 0 && height.revision_height() % clear_interval == 0
 }
 
 fn handle_update_schedule<ChainA: ChainHandle, ChainB: ChainHandle>(
diff --git a/tools/test-framework/src/relayer/transfer.rs b/tools/test-framework/src/relayer/transfer.rs
index 0eec47b973..5ab1bd0573 100644
--- a/tools/test-framework/src/relayer/transfer.rs
+++ b/tools/test-framework/src/relayer/transfer.rs
@@ -7,6 +7,7 @@ use core::ops::Add;
 use core::time::Duration;
 
 use ibc::applications::transfer::error::Error as Ics20Error;
+use ibc::core::ics04_channel::timeout::TimeoutHeight;
 use ibc::timestamp::Timestamp;
 use ibc_proto::google::protobuf::Any;
 use ibc_relayer::chain::cosmos::types::config::TxConfig;
@@ -52,7 +53,7 @@ pub fn build_transfer_message<SrcChain, DstChain>(
         denom.to_string(),
         sender,
         receiver,
-        None,
+        TimeoutHeight::no_timeout(),
         timeout_timestamp,
     ))
 }