diff --git a/pkg/rtc/transport.go b/pkg/rtc/transport.go
index a492750a7..787a6b4ac 100644
--- a/pkg/rtc/transport.go
+++ b/pkg/rtc/transport.go
@@ -161,11 +161,20 @@ func (t *PCTransport) CreateAndSendOffer(options *webrtc.OfferOptions) error {
 	}
 
 	state := t.negotiationState.Load().(int)
+
 	// when there's an ongoing negotiation, let it finish and not disrupt its state
 	if state == negotiationStateClient {
-		logger.Debugw("skipping negotiation, trying again later")
-		t.negotiationState.Store(negotiationRetry)
-		return nil
+		currentSD := t.pc.CurrentRemoteDescription()
+		if options != nil && options.ICERestart && currentSD != nil {
+			logger.Debugw("recovering from client negotiation state")
+			if err := t.pc.SetRemoteDescription(*currentSD); err != nil {
+				return err
+			}
+		} else {
+			logger.Debugw("skipping negotiation, trying again later")
+			t.negotiationState.Store(negotiationRetry)
+			return nil
+		}
 	}
 
 	offer, err := t.pc.CreateOffer(options)
diff --git a/pkg/rtc/transport_test.go b/pkg/rtc/transport_test.go
new file mode 100644
index 000000000..ab016b5e6
--- /dev/null
+++ b/pkg/rtc/transport_test.go
@@ -0,0 +1,82 @@
+package rtc
+
+import (
+	"testing"
+	"time"
+
+	livekit "github.com/livekit/livekit-server/proto"
+	"github.com/pion/webrtc/v3"
+	"github.com/stretchr/testify/require"
+)
+
+func TestMissingAnswerDuringICERestart(t *testing.T) {
+	params := TransportParams{
+		Target: livekit.SignalTarget_PUBLISHER,
+		Config: &WebRTCConfig{},
+		Stats:  nil,
+	}
+	transportA, err := NewPCTransport(params)
+	require.NoError(t, err)
+	_, err = transportA.pc.CreateDataChannel("test", nil)
+	require.NoError(t, err)
+	transportB, err := NewPCTransport(params)
+	require.NoError(t, err)
+
+	// exchange ICE
+	transportA.pc.OnICECandidate(func(candidate *webrtc.ICECandidate) {
+		if candidate == nil {
+			return
+		}
+		t.Logf("got ICE candidate from A: %v", candidate)
+		require.NoError(t, transportB.AddICECandidate(candidate.ToJSON()))
+	})
+	transportB.pc.OnICECandidate(func(candidate *webrtc.ICECandidate) {
+		if candidate == nil {
+			return
+		}
+		t.Logf("got ICE candidate from B: %v", candidate)
+		require.NoError(t, transportA.AddICECandidate(candidate.ToJSON()))
+	})
+	// set offer/answer
+	handleOffer := handleOfferFunc(t, transportA, transportB)
+	transportA.OnOffer(handleOffer)
+
+	// first establish connection
+	require.NoError(t, transportA.CreateAndSendOffer(nil))
+
+	// ensure we are connected the first time
+	time.Sleep(10 * time.Millisecond)
+	require.Equal(t, webrtc.ICEConnectionStateConnected, transportA.pc.ICEConnectionState())
+	require.Equal(t, webrtc.ICEConnectionStateConnected, transportB.pc.ICEConnectionState())
+
+	// offer again, but missed
+	transportA.OnOffer(func(sd webrtc.SessionDescription) {})
+	require.NoError(t, transportA.CreateAndSendOffer(nil))
+	require.Equal(t, webrtc.SignalingStateHaveLocalOffer, transportA.pc.SignalingState())
+	require.Equal(t, negotiationStateClient, transportA.negotiationState.Load().(int))
+
+	// now restart ICE
+	t.Logf("creating offer with ICE restart")
+	transportA.OnOffer(handleOffer)
+	require.NoError(t, transportA.CreateAndSendOffer(&webrtc.OfferOptions{
+		ICERestart: true,
+	}))
+
+	time.Sleep(50 * time.Millisecond)
+	require.Equal(t, webrtc.ICEConnectionStateConnected, transportA.pc.ICEConnectionState())
+	require.Equal(t, webrtc.ICEConnectionStateConnected, transportB.pc.ICEConnectionState())
+}
+
+func handleOfferFunc(t *testing.T, current, other *PCTransport) func(sd webrtc.SessionDescription) {
+	return func(sd webrtc.SessionDescription) {
+		t.Logf("handling offer")
+		t.Logf("setting other remote description")
+		require.NoError(t, other.SetRemoteDescription(sd))
+		answer, err := other.pc.CreateAnswer(nil)
+		require.NoError(t, err)
+		require.NoError(t, other.pc.SetLocalDescription(answer))
+
+		t.Logf("setting answer on current")
+		require.NoError(t, current.SetRemoteDescription(answer))
+	}
+}