diff --git a/crates/bevy_transform/src/components/mod.rs b/crates/bevy_transform/src/components/mod.rs
index 67720a2b4e08e0..b57f77450a9ff7 100644
--- a/crates/bevy_transform/src/components/mod.rs
+++ b/crates/bevy_transform/src/components/mod.rs
@@ -5,5 +5,5 @@ mod transform;
 
 pub use children::Children;
 pub use global_transform::*;
-pub use parent::{Parent, PreviousParent};
+pub use parent::{DirtyParent, Parent, PreviousParent};
 pub use transform::*;
diff --git a/crates/bevy_transform/src/components/parent.rs b/crates/bevy_transform/src/components/parent.rs
index c594d4c4dae2d0..3290c7153f7a43 100644
--- a/crates/bevy_transform/src/components/parent.rs
+++ b/crates/bevy_transform/src/components/parent.rs
@@ -59,3 +59,6 @@ impl FromWorld for PreviousParent {
         PreviousParent(Entity::new(u32::MAX))
     }
 }
+
+#[derive(Component, Debug, Copy, Clone, Eq, PartialEq, Reflect)]
+pub struct DirtyParent;
diff --git a/crates/bevy_transform/src/hierarchy/hierarchy_maintenance_system.rs b/crates/bevy_transform/src/hierarchy/hierarchy_maintenance_system.rs
index 6fde5d52ebfbbe..753b3f780bdeee 100644
--- a/crates/bevy_transform/src/hierarchy/hierarchy_maintenance_system.rs
+++ b/crates/bevy_transform/src/hierarchy/hierarchy_maintenance_system.rs
@@ -2,7 +2,7 @@ use crate::components::*;
 use bevy_ecs::{
     entity::Entity,
     prelude::Changed,
-    query::Without,
+    query::{With, Without},
     system::{Commands, Query},
 };
 use bevy_utils::HashMap;
@@ -67,9 +67,23 @@ pub fn parent_update_system(
     // collect multiple new children that point to the same parent into the same
     // SmallVec, and to prevent redundant add+remove operations.
     children_additions.iter().for_each(|(e, v)| {
-        commands.entity(*e).insert(Children::with(v));
+        // Mark the entity with `Dirty` so that systems which run
+        // in the same stage have a way to `Query` for a missed update
+        commands
+            .entity(*e)
+            .insert_bundle((Children::with(v), DirtyParent));
     });
 }
+
+pub fn clean_dirty_parents(
+    mut commands: Commands,
+    dirty_parent_query: Query<Entity, With<DirtyParent>>,
+) {
+    for entity in dirty_parent_query.iter() {
+        commands.entity(entity).remove::<DirtyParent>();
+    }
+}
+
 #[cfg(test)]
 mod test {
     use bevy_ecs::{
@@ -77,10 +91,73 @@ mod test {
         system::CommandQueue,
         world::World,
     };
+    use bevy_math::vec3;
 
     use super::*;
     use crate::{hierarchy::BuildChildren, transform_propagate_system::transform_propagate_system};
 
+    #[test]
+    fn correct_transforms_when_no_children() {
+        let mut world = World::default();
+
+        let mut update_stage = SystemStage::parallel();
+        update_stage.add_system(parent_update_system);
+        update_stage.add_system(transform_propagate_system);
+        update_stage.add_system(clean_dirty_parents);
+
+        let mut schedule = Schedule::default();
+        schedule.add_stage("update", update_stage);
+
+        let mut command_queue = CommandQueue::default();
+        let mut commands = Commands::new(&mut command_queue, &world);
+
+        let translation = vec3(1.0, 0.0, 0.0);
+
+        let parent = commands
+            .spawn()
+            .insert(Transform::from_translation(translation))
+            .insert(GlobalTransform::default())
+            .id();
+
+        let child = commands
+            .spawn()
+            .insert(Transform::default())
+            .insert(Transform::default())
+            .insert(GlobalTransform::default())
+            .insert(Parent(parent))
+            .id();
+
+        let children = vec![child];
+
+        command_queue.apply(&mut world);
+        schedule.run(&mut world);
+
+        // check the `Children` structure is spawned
+        assert_eq!(
+            world
+                .get::<Children>(parent)
+                .unwrap()
+                .0
+                .iter()
+                .cloned()
+                .collect::<Vec<_>>(),
+            children,
+        );
+        assert!(world.get::<DirtyParent>(parent).is_some());
+
+        schedule.run(&mut world);
+
+        assert_eq!(
+            world.get::<GlobalTransform>(child).unwrap(),
+            &GlobalTransform {
+                translation,
+                ..Default::default()
+            },
+        );
+
+        assert!(world.get::<DirtyParent>(parent).is_none());
+    }
+
     #[test]
     fn correct_children() {
         let mut world = World::default();
diff --git a/crates/bevy_transform/src/lib.rs b/crates/bevy_transform/src/lib.rs
index f255c613db8148..769ec60bbc9d32 100644
--- a/crates/bevy_transform/src/lib.rs
+++ b/crates/bevy_transform/src/lib.rs
@@ -9,7 +9,10 @@ pub mod prelude {
 
 use bevy_app::prelude::*;
 use bevy_ecs::schedule::{ParallelSystemDescriptorCoercion, SystemLabel};
-use prelude::{parent_update_system, Children, GlobalTransform, Parent, PreviousParent, Transform};
+use prelude::{
+    clean_dirty_parents, parent_update_system, Children, GlobalTransform, Parent, PreviousParent,
+    Transform,
+};
 
 #[derive(Default)]
 pub struct TransformPlugin;
@@ -47,6 +50,7 @@ impl Plugin for TransformPlugin {
                 transform_propagate_system::transform_propagate_system
                     .label(TransformSystem::TransformPropagate)
                     .after(TransformSystem::ParentUpdate),
-            );
+            )
+            .add_system_to_stage(CoreStage::PostUpdate, clean_dirty_parents);
     }
 }
diff --git a/crates/bevy_transform/src/transform_propagate_system.rs b/crates/bevy_transform/src/transform_propagate_system.rs
index a4ab7aadcdf892..d4eb4574df3bb5 100644
--- a/crates/bevy_transform/src/transform_propagate_system.rs
+++ b/crates/bevy_transform/src/transform_propagate_system.rs
@@ -1,4 +1,4 @@
-use crate::components::{Children, GlobalTransform, Parent, Transform};
+use crate::components::{Children, DirtyParent, GlobalTransform, Parent, Transform};
 use bevy_ecs::{
     entity::Entity,
     query::{Changed, With, Without},
@@ -12,13 +12,14 @@ pub fn transform_propagate_system(
         (Entity, Option<&Children>, &Transform, &mut GlobalTransform),
         Without<Parent>,
     >,
+    dirty_parent_query: Query<Entity, With<DirtyParent>>,
     mut transform_query: Query<(&Transform, &mut GlobalTransform), With<Parent>>,
     changed_transform_query: Query<Entity, Changed<Transform>>,
     children_query: Query<Option<&Children>, (With<Parent>, With<GlobalTransform>)>,
 ) {
     for (entity, children, transform, mut global_transform) in root_query.iter_mut() {
         let mut changed = false;
-        if changed_transform_query.get(entity).is_ok() {
+        if changed_transform_query.get(entity).is_ok() || dirty_parent_query.get(entity).is_ok() {
             *global_transform = GlobalTransform::from(*transform);
             changed = true;
         }
@@ -27,6 +28,7 @@ pub fn transform_propagate_system(
             for child in children.0.iter() {
                 propagate_recursive(
                     &global_transform,
+                    &dirty_parent_query,
                     &changed_transform_query,
                     &mut transform_query,
                     &children_query,
@@ -40,6 +42,7 @@ pub fn transform_propagate_system(
 
 fn propagate_recursive(
     parent: &GlobalTransform,
+    dirty_parent_query: &Query<Entity, With<DirtyParent>>,
     changed_transform_query: &Query<Entity, Changed<Transform>>,
     transform_query: &mut Query<(&Transform, &mut GlobalTransform), With<Parent>>,
     children_query: &Query<Option<&Children>, (With<Parent>, With<GlobalTransform>)>,
@@ -47,6 +50,7 @@ fn propagate_recursive(
     mut changed: bool,
 ) {
     changed |= changed_transform_query.get(entity).is_ok();
+    changed |= dirty_parent_query.get(entity).is_ok();
 
     let global_matrix = {
         if let Ok((transform, mut global_transform)) = transform_query.get_mut(entity) {
@@ -63,6 +67,7 @@ fn propagate_recursive(
         for child in children.0.iter() {
             propagate_recursive(
                 &global_matrix,
+                &dirty_parent_query,
                 changed_transform_query,
                 transform_query,
                 children_query,