diff --git a/protocols/relay/CHANGELOG.md b/protocols/relay/CHANGELOG.md
index 851431f6467..15137c881c4 100644
--- a/protocols/relay/CHANGELOG.md
+++ b/protocols/relay/CHANGELOG.md
@@ -12,6 +12,8 @@
   See [PR 6154](https://github.com/libp2p/rust-libp2p/pull/6154).
 - Expire external address when a relay listener is closed without a replacement reservation.
   See [PR 6285](https://github.com/libp2p/rust-libp2p/pull/6285).
+- Reset reservation state on listener close.
+  See [PR 6461](https://github.com/libp2p/rust-libp2p/pull/6461).
 
 ## 0.21.1
 - reduce allocations by replacing `get_or_insert` with `get_or_insert_with`
diff --git a/protocols/relay/src/priv_client.rs b/protocols/relay/src/priv_client.rs
index bd3d2c08eee..fef89e901bc 100644
--- a/protocols/relay/src/priv_client.rs
+++ b/protocols/relay/src/priv_client.rs
@@ -194,6 +194,20 @@ impl Behaviour {
             self.queued_actions
                 .push_back(ToSwarm::ExternalAddrExpired(addr));
         }
+
+        if let Some(peer_id) = self.peer_for_connection(connection_id) {
+            self.queued_actions.push_back(ToSwarm::NotifyHandler {
+                peer_id,
+                handler: NotifyHandler::One(connection_id),
+                event: Either::Left(handler::In::ResetReservation),
+            });
+        }
+    }
+
+    fn peer_for_connection(&self, connection_id: ConnectionId) -> Option<PeerId> {
+        self.directly_connected_peers
+            .iter()
+            .find_map(|(peer, connections)| connections.contains(&connection_id).then_some(*peer))
     }
 }
 
diff --git a/protocols/relay/src/priv_client/handler.rs b/protocols/relay/src/priv_client/handler.rs
index 5eb23c1bff2..20c7e27b50c 100644
--- a/protocols/relay/src/priv_client/handler.rs
+++ b/protocols/relay/src/priv_client/handler.rs
@@ -61,6 +61,7 @@ pub enum In {
     Reserve {
         to_listener: mpsc::Sender<transport::ToListenerMsg>,
     },
+    ResetReservation,
     EstablishCircuit {
         dst_peer_id: PeerId,
         to_dial: oneshot::Sender<Result<priv_client::Connection, outbound_hop::ConnectError>>,
@@ -71,6 +72,7 @@ impl fmt::Debug for In {
     fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
         match self {
             In::Reserve { to_listener: _ } => f.debug_struct("In::Reserve").finish(),
+            In::ResetReservation => f.debug_struct("In::ResetReservation").finish(),
             In::EstablishCircuit {
                 dst_peer_id,
                 to_dial: _,
@@ -250,6 +252,9 @@ impl ConnectionHandler for Handler {
             In::Reserve { to_listener } => {
                 self.make_new_reservation(to_listener);
             }
+            In::ResetReservation => {
+                self.reservation = Reservation::None;
+            }
             In::EstablishCircuit {
                 to_dial,
                 dst_peer_id,
diff --git a/protocols/relay/tests/lib.rs b/protocols/relay/tests/lib.rs
index 35e276727e1..90ee6a6545d 100644
--- a/protocols/relay/tests/lib.rs
+++ b/protocols/relay/tests/lib.rs
@@ -654,6 +654,70 @@ async fn disabled_relay_rejects_reservation() {
     assert!(error.source().is_some());
 }
 
+#[tokio::test]
+async fn reservation_after_listener_close_emits_fresh_acceptance() {
+    let _ = tracing_subscriber::fmt()
+        .with_env_filter(EnvFilter::from_default_env())
+        .try_init();
+
+    let relay_addr = Multiaddr::empty().with(Protocol::Memory(rand::random::<u64>()));
+    let mut relay = build_relay();
+    let relay_peer_id = *relay.local_peer_id();
+
+    relay.listen_on(relay_addr.clone()).unwrap();
+    relay.add_external_address(relay_addr.clone());
+    tokio::spawn(async move {
+        relay.collect::<Vec<_>>().await;
+    });
+
+    let mut client = build_client();
+    let client_peer_id = *client.local_peer_id();
+    let client_addr = relay_addr
+        .with(Protocol::P2p(relay_peer_id))
+        .with(Protocol::P2pCircuit);
+    let client_addr_with_peer_id = client_addr.clone().with(Protocol::P2p(client_peer_id));
+
+    let first_listener = client.listen_on(client_addr.clone()).unwrap();
+    assert!(wait_for_dial(&mut client, relay_peer_id).await);
+    wait_for_reservation(
+        &mut client,
+        client_addr_with_peer_id.clone(),
+        relay_peer_id,
+        false,
+    )
+    .await;
+
+    assert!(client.remove_listener(first_listener));
+
+    let mut first_listener_closed = false;
+    let mut first_addr_expired = false;
+    loop {
+        match client.select_next_some().await {
+            SwarmEvent::ListenerClosed { listener_id, .. } if listener_id == first_listener => {
+                first_listener_closed = true;
+            }
+            SwarmEvent::ExternalAddrExpired { address } if address == client_addr_with_peer_id => {
+                first_addr_expired = true;
+            }
+            SwarmEvent::Behaviour(ClientEvent::Ping(_)) => {}
+            _ => {}
+        }
+        if first_listener_closed && first_addr_expired {
+            break;
+        }
+    }
+
+    let _second_listener = client.listen_on(client_addr.clone()).unwrap();
+
+    wait_for_reservation(
+        &mut client,
+        client_addr_with_peer_id.clone(),
+        relay_peer_id,
+        false,
+    )
+    .await;
+}
+
 fn build_relay() -> Swarm<Relay> {
     build_relay_with_config(relay::Config {
         reservation_duration: Duration::from_secs(2),