diff --git a/src/cluster_legacy.c b/src/cluster_legacy.c
index 04a04774f..ee7e4c531 100644
--- a/src/cluster_legacy.c
+++ b/src/cluster_legacy.c
@@ -3135,6 +3135,24 @@ int clusterProcessPacket(clusterLink *link) {
         if (sender_claims_to_be_primary && sender_claimed_config_epoch > sender->configEpoch) {
             sender->configEpoch = sender_claimed_config_epoch;
             clusterDoBeforeSleep(CLUSTER_TODO_SAVE_CONFIG | CLUSTER_TODO_FSYNC_CONFIG);
+
+            if (server.cluster->failover_auth_time && sender->configEpoch >= server.cluster->failover_auth_epoch) {
+                /* Another node has claimed an epoch greater than or equal to ours.
+                 * If we have an ongoing election, reset it because we cannot win
+                 * with an epoch smaller than or equal to the incoming claim. This
+                 * allows us to start a new election as soon as possible. */
+                server.cluster->failover_auth_time = 0;
+                serverLog(LL_WARNING,
+                          "Failover election in progress for epoch %llu, but received a claim from "
+                          "node %.40s (%s) with an equal or higher epoch %llu. Resetting the election "
+                          "since we cannot win an election in the past.",
+                          (unsigned long long)server.cluster->failover_auth_epoch,
+                          sender->name, sender->human_nodename,
+                          (unsigned long long)sender->configEpoch);
+                /* Maybe we could start a new election, set a flag here to make sure
+                 * we check as soon as possible, instead of waiting for a cron. */
+                clusterDoBeforeSleep(CLUSTER_TODO_HANDLE_FAILOVER);
+            }
         }
         /* Update the replication offset info for this node. */
         sender->repl_offset = ntohu64(hdr->offset);
diff --git a/tests/unit/cluster/failover2.tcl b/tests/unit/cluster/failover2.tcl
index 7bc6a05e9..21c4f4a67 100644
--- a/tests/unit/cluster/failover2.tcl
+++ b/tests/unit/cluster/failover2.tcl
@@ -64,3 +64,36 @@ start_cluster 3 4 {tags {external:skip cluster} overrides {cluster-ping-interval
     }
 
 } ;# start_cluster
+
+
+start_cluster 7 3 {tags {external:skip cluster} overrides {cluster-ping-interval 1000 cluster-node-timeout 5000}} {
+    test "Primaries will not time out then they are elected in the same epoch" {
+        # Since we have the delay time, so these node may not initiate the
+        # election at the same time (same epoch). But if they do, we make
+        # sure there is no failover timeout.
+
+        # Killing there primary nodes.
+        pause_process [srv 0 pid]
+        pause_process [srv -1 pid]
+        pause_process [srv -2 pid]
+
+        # Wait for the failover
+        wait_for_condition 1000 50 {
+            [s -7 role] == "master" &&
+            [s -8 role] == "master" &&
+            [s -9 role] == "master"
+        } else {
+            fail "No failover detected"
+        }
+
+        # Make sure there is no failover timeout.
+        verify_no_log_message -7 "*Failover attempt expired*" 0
+        verify_no_log_message -8 "*Failover attempt expired*" 0
+        verify_no_log_message -9 "*Failover attempt expired*" 0
+
+        # Resuming these primary nodes, speed up the shutdown.
+        resume_process [srv 0 pid]
+        resume_process [srv -1 pid]
+        resume_process [srv -2 pid]
+    }
+} ;# start_cluster