diff --git a/lib/extension/groups.js b/lib/extension/groups.js
index 2106d230d..66e8b972d 100644
--- a/lib/extension/groups.js
+++ b/lib/extension/groups.js
@@ -109,6 +109,9 @@ class Groups extends Extension {
                     }
                 }
             } else {
+                // Invalidate the last optimistic group state when group state is changed directly.
+                delete this.lastOptimisticState[resolvedEntity.group.groupID];
+
                 const groupIDsToPublish = new Set();
                 for (const member of resolvedEntity.group.members) {
                     await this.publishEntityState(member.getDevice().ieeeAddr, payload, reason);
diff --git a/test/group.test.js b/test/group.test.js
index 593debc62..8f6a0395f 100644
--- a/test/group.test.js
+++ b/test/group.test.js
@@ -328,6 +328,38 @@ describe('Groups', () => {
         expect(MQTT.publish).toHaveBeenCalledWith("zigbee2mqtt/group_1", stringify({"state":"ON"}), {"retain": false, qos: 0}, expect.any(Function));
     });
 
+    it('Should publish state change for group when members state change', async () => {
+        // Created for https://github.com/Koenkk/zigbee2mqtt/issues/5725
+        const device = zigbeeHerdsman.devices.bulb_color;
+        const endpoint = device.getEndpoint(1);
+        const group = zigbeeHerdsman.groups.group_1;
+        group.members.push(endpoint);
+        settings.set(['groups'], {'1': {friendly_name: 'group_1', retain: false, devices: [device.ieeeAddr]}});
+        await controller.start();
+        await flushPromises();
+
+        MQTT.publish.mockClear();
+        await MQTT.events.message('zigbee2mqtt/bulb_color/set', stringify({state: 'ON'}));
+        await flushPromises();
+        expect(MQTT.publish).toHaveBeenCalledTimes(2);
+        expect(MQTT.publish).toHaveBeenCalledWith("zigbee2mqtt/bulb_color", stringify({"state":"ON"}), {"retain": false, qos: 0}, expect.any(Function));
+        expect(MQTT.publish).toHaveBeenCalledWith("zigbee2mqtt/group_1", stringify({"state":"ON"}), {"retain": false, qos: 0}, expect.any(Function));
+
+        MQTT.publish.mockClear();
+        await MQTT.events.message('zigbee2mqtt/group_1/set', stringify({state: 'OFF'}));
+        await flushPromises();
+        expect(MQTT.publish).toHaveBeenCalledTimes(2);
+        expect(MQTT.publish).toHaveBeenCalledWith("zigbee2mqtt/bulb_color", stringify({"state":"OFF"}), {"retain": false, qos: 0}, expect.any(Function));
+        expect(MQTT.publish).toHaveBeenCalledWith("zigbee2mqtt/group_1", stringify({"state":"OFF"}), {"retain": false, qos: 0}, expect.any(Function));
+
+        MQTT.publish.mockClear();
+        await MQTT.events.message('zigbee2mqtt/bulb_color/set', stringify({state: 'ON'}));
+        await flushPromises();
+        expect(MQTT.publish).toHaveBeenCalledTimes(2);
+        expect(MQTT.publish).toHaveBeenCalledWith("zigbee2mqtt/bulb_color", stringify({"state":"ON"}), {"retain": false, qos: 0}, expect.any(Function));
+        expect(MQTT.publish).toHaveBeenCalledWith("zigbee2mqtt/group_1", stringify({"state":"ON"}), {"retain": false, qos: 0}, expect.any(Function));
+    });
+
     it('Should publish state change of all members when a group changes its state, filtered', async () => {
         const device = zigbeeHerdsman.devices.bulb_color;
         const endpoint = device.getEndpoint(1);