diff --git a/resolver-dns/src/main/java/io/netty/resolver/dns/DnsNameResolver.java b/resolver-dns/src/main/java/io/netty/resolver/dns/DnsNameResolver.java
index a9edc8d5c864..fd2d76df7805 100644
--- a/resolver-dns/src/main/java/io/netty/resolver/dns/DnsNameResolver.java
+++ b/resolver-dns/src/main/java/io/netty/resolver/dns/DnsNameResolver.java
@@ -1372,6 +1372,11 @@ public void channelRead(ChannelHandlerContext ctx, Object msg) {
                         qCh, queryId, res.sender());
                 res.release();
                 return;
+            } else if (qCtx.isDone()) {
+                logger.debug("{} Received a DNS response for a query that was timed out or cancelled: UDP [{}: {}]",
+                        qCh, queryId, res.sender());
+                res.release();
+                return;
             }
 
             // Check if the response was truncated and if we can fallback to TCP to retry.
@@ -1419,7 +1424,11 @@ public void channelRead(ChannelHandlerContext ctx, Object msg) {
                             }
 
                             DnsQueryContext foundCtx = queryContextManager.get(res.sender(), queryId);
-                            if (foundCtx == tcpCtx) {
+                            if (foundCtx != null && foundCtx.isDone()) {
+                                logger.debug("{} Received a DNS response for a query that was timed out or cancelled " +
+                                                ": TCP [{}: {}]", tcpCh, queryId, res.sender());
+                                response.release();
+                            } else if (foundCtx == tcpCtx) {
                                 tcpCtx.finishSuccess(new AddressedEnvelopeAdapter(
                                         (InetSocketAddress) ctx.channel().remoteAddress(),
                                         (InetSocketAddress) ctx.channel().localAddress(),
diff --git a/resolver-dns/src/main/java/io/netty/resolver/dns/DnsQueryContext.java b/resolver-dns/src/main/java/io/netty/resolver/dns/DnsQueryContext.java
index a2f4e6fae60b..e3db5f807f6d 100644
--- a/resolver-dns/src/main/java/io/netty/resolver/dns/DnsQueryContext.java
+++ b/resolver-dns/src/main/java/io/netty/resolver/dns/DnsQueryContext.java
@@ -32,10 +32,12 @@
 import io.netty.util.concurrent.FutureListener;
 import io.netty.util.concurrent.GenericFutureListener;
 import io.netty.util.concurrent.Promise;
+import io.netty.util.internal.SystemPropertyUtil;
 import io.netty.util.internal.logging.InternalLogger;
 import io.netty.util.internal.logging.InternalLoggerFactory;
 
 import java.net.InetSocketAddress;
+import java.util.concurrent.CancellationException;
 import java.util.concurrent.TimeUnit;
 
 import static io.netty.util.internal.ObjectUtil.checkNotNull;
@@ -43,6 +45,13 @@
 abstract class DnsQueryContext {
 
     private static final InternalLogger logger = InternalLoggerFactory.getInstance(DnsQueryContext.class);
+    private static final long ID_REUSE_ON_TIMEOUT_DELAY_MILLIS;
+
+    static {
+        ID_REUSE_ON_TIMEOUT_DELAY_MILLIS =
+                SystemPropertyUtil.getLong("io.netty.resolver.dns.idReuseOnTimeoutDelayMillis", 10000);
+        logger.debug("-Dio.netty.resolver.dns.idReuseOnTimeoutDelayMillis: {}", ID_REUSE_ON_TIMEOUT_DELAY_MILLIS);
+    }
 
     private final Future<? extends Channel> channelReadyFuture;
     private final Channel channel;
@@ -101,6 +110,15 @@ private static boolean hasOptRecord(DnsRecord[] additionals) {
         return false;
     }
 
+    /**
+     * Returns {@code true} if the query was completed already.
+     *
+     * @return {@code true} if done.
+     */
+    final boolean isDone() {
+        return promise.isDone();
+    }
+
     /**
      * Returns the {@link DnsQuestion} that will be written as part of the {@link DnsQuery}.
      *
@@ -149,11 +167,22 @@ public void operationComplete(Future<AddressedEnvelope<DnsResponse, InetSocketAd
                     timeoutFuture.cancel(false);
                 }
 
-                // Remove the id from the manager as soon as the query completes. This may be because of success,
-                // failure or cancellation
-                DnsQueryContext self = queryContextManager.remove(nameServerAddr, id);
-
-                assert self == DnsQueryContext.this : "Removed DnsQueryContext is not the correct instance";
+                Throwable cause = future.cause();
+                if (cause instanceof DnsNameResolverTimeoutException || cause instanceof CancellationException) {
+                    // This query was failed due a timeout or cancellation. Let's delay the removal of the id to reduce
+                    // the risk of reusing the same id again while the remote nameserver might send the response after
+                    // the timeout.
+                    channel.eventLoop().schedule(new Runnable() {
+                        @Override
+                        public void run() {
+                            removeFromContextManager(nameServerAddr);
+                        }
+                    }, ID_REUSE_ON_TIMEOUT_DELAY_MILLIS, TimeUnit.MILLISECONDS);
+                } else {
+                    // Remove the id from the manager as soon as the query completes. This may be because of success,
+                    // failure or cancellation
+                    removeFromContextManager(nameServerAddr);
+                }
             }
         });
         final DnsQuestion question = question();
@@ -179,6 +208,12 @@ public void operationComplete(Future<AddressedEnvelope<DnsResponse, InetSocketAd
         return sendQuery(nameServerAddr, query, queryTimeoutMillis, flush);
     }
 
+    private void removeFromContextManager(InetSocketAddress nameServerAddr) {
+        DnsQueryContext self = queryContextManager.remove(nameServerAddr, id);
+
+        assert self == this : "Removed DnsQueryContext is not the correct instance";
+    }
+
     private ChannelFuture sendQuery(final InetSocketAddress nameServerAddr, final DnsQuery query,
                                     final long queryTimeoutMillis, final boolean flush) {
         final ChannelPromise writePromise = channel.newPromise();