diff --git a/baseapp/abci.go b/baseapp/abci.go
index d988ead0fcf4..b46afd6c73ef 100644
--- a/baseapp/abci.go
+++ b/baseapp/abci.go
@@ -379,9 +379,17 @@ func (app *BaseApp) snapshot(height int64) {
 
 // Query implements the ABCI interface. It delegates to CommitMultiStore if it
 // implements Queryable.
-func (app *BaseApp) Query(req abci.RequestQuery) abci.ResponseQuery {
+func (app *BaseApp) Query(req abci.RequestQuery) (res abci.ResponseQuery) {
 	defer telemetry.MeasureSince(time.Now(), "abci", "query")
 
+	// Add panic recovery for all queries.
+	// ref: https://github.com/cosmos/cosmos-sdk/pull/8039
+	defer func() {
+		if r := recover(); r != nil {
+			res = sdkerrors.QueryResult(sdkerrors.Wrapf(sdkerrors.ErrPanic, "%v", r))
+		}
+	}()
+
 	// when a client did not provide a query height, manually inject the latest
 	if req.Height == 0 {
 		req.Height = app.LastBlockHeight()
diff --git a/baseapp/grpcserver.go b/baseapp/grpcserver.go
index 74e8b8a21cac..a4342e0b8955 100644
--- a/baseapp/grpcserver.go
+++ b/baseapp/grpcserver.go
@@ -5,6 +5,8 @@ import (
 	"strconv"
 
 	gogogrpc "github.com/gogo/protobuf/grpc"
+	grpcmiddleware "github.com/grpc-ecosystem/go-grpc-middleware"
+	grpcrecovery "github.com/grpc-ecosystem/go-grpc-middleware/recovery"
 	"google.golang.org/grpc"
 	"google.golang.org/grpc/codes"
 	"google.golang.org/grpc/metadata"
@@ -74,7 +76,10 @@ func (app *BaseApp) RegisterGRPCServer(server gogogrpc.Server) {
 			newMethods[i] = grpc.MethodDesc{
 				MethodName: method.MethodName,
 				Handler: func(srv interface{}, ctx context.Context, dec func(interface{}) error, _ grpc.UnaryServerInterceptor) (interface{}, error) {
-					return methodHandler(srv, ctx, dec, interceptor)
+					return methodHandler(srv, ctx, dec, grpcmiddleware.ChainUnaryServer(
+						grpcrecovery.UnaryServerInterceptor(),
+						interceptor,
+					))
 				},
 			}
 		}
diff --git a/types/query/query.pb.go b/client/grpc/tmservice/query.pb.go
similarity index 93%
rename from types/query/query.pb.go
rename to client/grpc/tmservice/query.pb.go
index 266d337002e8..c08d33dc2d4a 100644
--- a/types/query/query.pb.go
+++ b/client/grpc/tmservice/query.pb.go
@@ -1,11 +1,12 @@
 // Code generated by protoc-gen-gogo. DO NOT EDIT.
 // source: cosmos/base/tendermint/v1beta1/query.proto
 
-package query
+package tmservice
 
 import (
 	context "context"
 	fmt "fmt"
+	query "github.com/cosmos/cosmos-sdk/types/query"
 	_ "github.com/gogo/protobuf/gogoproto"
 	grpc1 "github.com/gogo/protobuf/grpc"
 	proto "github.com/gogo/protobuf/proto"
@@ -35,7 +36,7 @@ const _ = proto.GoGoProtoPackageIsVersion3 // please upgrade the proto package
 type GetValidatorSetByHeightRequest struct {
 	Height int64 `protobuf:"varint,1,opt,name=height,proto3" json:"height,omitempty"`
 	// pagination defines an pagination for the request.
-	Pagination *PageRequest `protobuf:"bytes,2,opt,name=pagination,proto3" json:"pagination,omitempty"`
+	Pagination *query.PageRequest `protobuf:"bytes,2,opt,name=pagination,proto3" json:"pagination,omitempty"`
 }
 
 func (m *GetValidatorSetByHeightRequest) Reset()         { *m = GetValidatorSetByHeightRequest{} }
@@ -78,7 +79,7 @@ func (m *GetValidatorSetByHeightRequest) GetHeight() int64 {
 	return 0
 }
 
-func (m *GetValidatorSetByHeightRequest) GetPagination() *PageRequest {
+func (m *GetValidatorSetByHeightRequest) GetPagination() *query.PageRequest {
 	if m != nil {
 		return m.Pagination
 	}
@@ -90,7 +91,7 @@ type GetValidatorSetByHeightResponse struct {
 	BlockHeight int64        `protobuf:"varint,1,opt,name=block_height,json=blockHeight,proto3" json:"block_height,omitempty"`
 	Validators  []*Validator `protobuf:"bytes,2,rep,name=validators,proto3" json:"validators,omitempty"`
 	// pagination defines an pagination for the response.
-	Pagination *PageResponse `protobuf:"bytes,3,opt,name=pagination,proto3" json:"pagination,omitempty"`
+	Pagination *query.PageResponse `protobuf:"bytes,3,opt,name=pagination,proto3" json:"pagination,omitempty"`
 }
 
 func (m *GetValidatorSetByHeightResponse) Reset()         { *m = GetValidatorSetByHeightResponse{} }
@@ -140,7 +141,7 @@ func (m *GetValidatorSetByHeightResponse) GetValidators() []*Validator {
 	return nil
 }
 
-func (m *GetValidatorSetByHeightResponse) GetPagination() *PageResponse {
+func (m *GetValidatorSetByHeightResponse) GetPagination() *query.PageResponse {
 	if m != nil {
 		return m.Pagination
 	}
@@ -150,7 +151,7 @@ func (m *GetValidatorSetByHeightResponse) GetPagination() *PageResponse {
 // GetLatestValidatorSetRequest is the request type for the Query/GetValidatorSetByHeight RPC method.
 type GetLatestValidatorSetRequest struct {
 	// pagination defines an pagination for the request.
-	Pagination *PageRequest `protobuf:"bytes,1,opt,name=pagination,proto3" json:"pagination,omitempty"`
+	Pagination *query.PageRequest `protobuf:"bytes,1,opt,name=pagination,proto3" json:"pagination,omitempty"`
 }
 
 func (m *GetLatestValidatorSetRequest) Reset()         { *m = GetLatestValidatorSetRequest{} }
@@ -186,7 +187,7 @@ func (m *GetLatestValidatorSetRequest) XXX_DiscardUnknown() {
 
 var xxx_messageInfo_GetLatestValidatorSetRequest proto.InternalMessageInfo
 
-func (m *GetLatestValidatorSetRequest) GetPagination() *PageRequest {
+func (m *GetLatestValidatorSetRequest) GetPagination() *query.PageRequest {
 	if m != nil {
 		return m.Pagination
 	}
@@ -198,7 +199,7 @@ type GetLatestValidatorSetResponse struct {
 	BlockHeight int64        `protobuf:"varint,1,opt,name=block_height,json=blockHeight,proto3" json:"block_height,omitempty"`
 	Validators  []*Validator `protobuf:"bytes,2,rep,name=validators,proto3" json:"validators,omitempty"`
 	// pagination defines an pagination for the response.
-	Pagination *PageResponse `protobuf:"bytes,3,opt,name=pagination,proto3" json:"pagination,omitempty"`
+	Pagination *query.PageResponse `protobuf:"bytes,3,opt,name=pagination,proto3" json:"pagination,omitempty"`
 }
 
 func (m *GetLatestValidatorSetResponse) Reset()         { *m = GetLatestValidatorSetResponse{} }
@@ -248,7 +249,7 @@ func (m *GetLatestValidatorSetResponse) GetValidators() []*Validator {
 	return nil
 }
 
-func (m *GetLatestValidatorSetResponse) GetPagination() *PageResponse {
+func (m *GetLatestValidatorSetResponse) GetPagination() *query.PageResponse {
 	if m != nil {
 		return m.Pagination
 	}
@@ -864,72 +865,72 @@ func init() {
 }
 
 var fileDescriptor_40c93fb3ef485c5d = []byte{
-	// 1031 bytes of a gzipped FileDescriptorProto
+	// 1040 bytes of a gzipped FileDescriptorProto
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+	0x54, 0x01, 0xf5, 0xde, 0xf6, 0x9e, 0x1f, 0x62, 0x9d, 0xd3, 0xcd, 0x20, 0xad, 0xe7, 0x06, 0xdc,
+	0x3e, 0x97, 0x02, 0x67, 0x34, 0xe2, 0x18, 0xbd, 0x0e, 0xd7, 0xa4, 0x7e, 0x2f, 0xc7, 0xa4, 0x22,
+	0x6d, 0x2a, 0x14, 0xed, 0x02, 0xf4, 0xd3, 0x14, 0xdc, 0x9c, 0x5d, 0x29, 0xac, 0x56, 0x1a, 0x6b,
+	0xf6, 0xc5, 0xc7, 0x66, 0x0f, 0x37, 0x75, 0x33, 0x60, 0xd4, 0xcc, 0x29, 0x2b, 0x48, 0x65, 0x77,
+	0xc7, 0x2a, 0x53, 0x54, 0x73, 0xd2, 0x0e, 0x60, 0xb9, 0x89, 0xc5, 0x43, 0x5f, 0x60, 0x9e, 0xd3,
+	0x97, 0x96, 0x36, 0x5f, 0x42, 0xe3, 0xd2, 0x25, 0xfc, 0xd3, 0x80, 0x5b, 0xe7, 0x6c, 0xf4, 0x72,
+	0x17, 0xf0, 0x3b, 0x03, 0xca, 0xc3, 0x2d, 0x90, 0x09, 0x25, 0x3f, 0x08, 0x62, 0xcc, 0xb9, 0xe4,
+	0x7f, 0xcd, 0x4d, 0x3f, 0xd1, 0x12, 0x94, 0x58, 0xaf, 0xe5, 0x1d, 0xe1, 0x81, 0x6c, 0xc4, 0xb2,
+	0x5b, 0x64, 0xbd, 0xd6, 0x03, 0x3c, 0x48, 0x74, 0xf7, 0xa9, 0x20, 0x51, 0xe8, 0x31, 0xfa, 0x15,
+	0x8e, 0x25, 0x97, 0x82, 0x5b, 0x51, 0xb6, 0xbd, 0xc4, 0x84, 0xd6, 0x61, 0x81, 0xc5, 0x94, 0x51,
+	0x8e, 0x63, 0x8f, 0xc5, 0x84, 0xc6, 0x44, 0x0c, 0xcc, 0x2b, 0x32, 0x6e, 0x3e, 0x75, 0xec, 0x69,
+	0xbb, 0x55, 0x87, 0xa5, 0x26, 0x16, 0xdb, 0x49, 0xd9, 0x26, 0xbc, 0x27, 0xd6, 0x37, 0x60, 0x9e,
+	0x86, 0xe8, 0x63, 0x79, 0x13, 0xe6, 0xd4, 0xb1, 0x90, 0x40, 0x1f, 0xff, 0xcd, 0x6c, 0x95, 0xd5,
+	0xad, 0x96, 0xd0, 0xdd, 0x1d, 0xb7, 0x24, 0x43, 0x77, 0x03, 0xb4, 0x01, 0x57, 0xe5, 0x52, 0x5f,
+	0xba, 0xa5, 0x73, 0x20, 0xae, 0x8a, 0xb2, 0x96, 0xe0, 0xb5, 0x61, 0x73, 0x28, 0x87, 0x62, 0x6c,
+	0x3d, 0x81, 0x1b, 0x2f, 0x3a, 0xfe, 0x4f, 0x5e, 0x8b, 0xb0, 0xd0, 0xc4, 0x62, 0x7f, 0x10, 0xb5,
+	0x49, 0x14, 0xa6, 0x9c, 0x6c, 0x40, 0x59, 0xa3, 0xe6, 0x63, 0x42, 0x89, 0x2b, 0x93, 0xa4, 0x33,
+	0xe7, 0xa6, 0x9f, 0xd6, 0x75, 0x19, 0xff, 0x88, 0x06, 0x78, 0x37, 0x3a, 0xa0, 0x69, 0x96, 0x5f,
+	0x0d, 0x58, 0xcc, 0x99, 0x75, 0x9e, 0x07, 0xb0, 0x10, 0xe0, 0x03, 0xbf, 0xd7, 0x11, 0x5e, 0x44,
+	0x03, 0xec, 0x91, 0xe8, 0x80, 0x6a, 0x81, 0xb7, 0xb3, 0x6c, 0x59, 0x83, 0xd9, 0x3b, 0x2a, 0x70,
+	0x98, 0xe3, 0xd5, 0x20, 0x6f, 0x40, 0x5f, 0xc2, 0xa2, 0xcf, 0x58, 0x87, 0xb4, 0x65, 0xaf, 0x7a,
+	0x7d, 0x1c, 0xf3, 0xd1, 0x24, 0x5c, 0x1f, 0x7b, 0x73, 0x54, 0xb8, 0x4c, 0x8d, 0x32, 0x79, 0xb4,
+	0xdd, 0xfa, 0xd7, 0x80, 0x4a, 0x26, 0x06, 0x21, 0xb8, 0x12, 0xf9, 0x5d, 0x2c, 0xd9, 0x96, 0x5d,
+	0xb9, 0x46, 0x37, 0x61, 0xce, 0x67, 0xcc, 0x93, 0x76, 0xd5, 0xf7, 0x25, 0x9f, 0xb1, 0x47, 0x89,
+	0xcb, 0x84, 0x52, 0x4a, 0xa8, 0xa0, 0x3c, 0xfa, 0x13, 0xdd, 0x02, 0x08, 0x89, 0xf0, 0xda, 0xb4,
+	0xdb, 0x25, 0x42, 0x36, 0x7a, 0xd9, 0x2d, 0x87, 0x44, 0x7c, 0x24, 0x0d, 0x89, 0xbb, 0xd5, 0x23,
+	0x9d, 0xc0, 0x13, 0x7e, 0xc8, 0xcd, 0xab, 0xca, 0x2d, 0x2d, 0x9f, 0xf9, 0x21, 0x97, 0x68, 0x3a,
+	0xd4, 0x5a, 0xd4, 0x68, 0xaa, 0x99, 0xa2, 0x8f, 0x53, 0x74, 0x80, 0x19, 0x37, 0x4b, 0x72, 0x88,
+	0xdc, 0x19, 0x57, 0x8a, 0x4f, 0x69, 0xd0, 0xeb, 0x60, 0xbd, 0xcb, 0x0e, 0x66, 0xdc, 0xba, 0x0f,
+	0x45, 0x65, 0x4c, 0x64, 0x33, 0x5f, 0x1c, 0xa6, 0xb2, 0x93, 0x75, 0x56, 0xdb, 0x6c, 0x5e, 0xdb,
+	0x3c, 0x14, 0x78, 0xaf, 0xab, 0x15, 0x27, 0xcb, 0xc6, 0xd3, 0x32, 0x94, 0xf6, 0x71, 0xdc, 0x27,
+	0x6d, 0x8c, 0x7e, 0x32, 0xa0, 0x92, 0xe9, 0x0a, 0xd4, 0x18, 0x47, 0xec, 0x74, 0x67, 0x55, 0x37,
+	0xa7, 0xc2, 0xa8, 0xb6, 0xb3, 0xea, 0x4f, 0xff, 0xf8, 0xe7, 0x87, 0xd9, 0x75, 0xb4, 0xe6, 0x8c,
+	0x79, 0x72, 0x0c, 0x9b, 0x12, 0xfd, 0x68, 0x00, 0x8c, 0x2e, 0x02, 0xaa, 0x4f, 0xb0, 0x6d, 0xfe,
+	0x26, 0x55, 0x1b, 0xd3, 0x40, 0x34, 0x51, 0x47, 0x12, 0x5d, 0x43, 0x77, 0xc7, 0x11, 0xd5, 0xd7,
+	0x0f, 0xfd, 0x6c, 0xc0, 0x2b, 0xf9, 0x19, 0x82, 0xb6, 0x26, 0xd8, 0xf7, 0xf4, 0x30, 0xaa, 0xbe,
+	0x35, 0x2d, 0x4c, 0x53, 0xde, 0x92, 0x94, 0x1d, 0xb4, 0x31, 0x8e, 0xb2, 0x1c, 0x3a, 0xdc, 0xe9,
+	0xc8, 0x1c, 0xe8, 0x17, 0x03, 0xe6, 0x5f, 0x1c, 0xcb, 0xe8, 0xde, 0x04, 0x1c, 0xce, 0x9a, 0xfd,
+	0xd5, 0xb7, 0xa7, 0x07, 0x6a, 0xfa, 0xf7, 0x24, 0xfd, 0x3a, 0x72, 0x26, 0xa4, 0xff, 0xb5, 0xfa,
+	0x57, 0x79, 0x82, 0x7e, 0x37, 0x32, 0x63, 0x3d, 0xfb, 0x9f, 0x8f, 0xde, 0x9b, 0xb8, 0x92, 0x67,
+	0xbc, 0x49, 0xaa, 0xef, 0x5f, 0x12, 0xad, 0xf5, 0xbc, 0x23, 0xf5, 0x6c, 0xa2, 0xfa, 0x38, 0x3d,
+	0xa3, 0xe7, 0x42, 0x7a, 0x24, 0x7f, 0x19, 0xf2, 0xcf, 0xf5, 0xac, 0x87, 0x20, 0xfa, 0x60, 0x02,
+	0x56, 0x17, 0x3c, 0x62, 0xab, 0x1f, 0x5e, 0x1a, 0xaf, 0x75, 0xbd, 0x2b, 0x75, 0x6d, 0xa1, 0xcd,
+	0x29, 0x74, 0xa5, 0x67, 0xb5, 0xfd, 0xf0, 0xb7, 0xe3, 0x9a, 0xf1, 0xec, 0xb8, 0x66, 0xfc, 0x7d,
+	0x5c, 0x33, 0xbe, 0x3f, 0xa9, 0xcd, 0x3c, 0x3b, 0xa9, 0xcd, 0x3c, 0x3f, 0xa9, 0xcd, 0x7c, 0xd1,
+	0x08, 0x89, 0x38, 0xec, 0xb5, 0xec, 0x36, 0xed, 0xa6, 0x89, 0xd5, 0xcf, 0x06, 0x0f, 0x8e, 0x9c,
+	0x76, 0x87, 0xe0, 0x48, 0x38, 0x61, 0xcc, 0xda, 0x8e, 0xe8, 0x72, 0x35, 0xc6, 0x5a, 0x45, 0xf9,
+	0x74, 0xdf, 0xfc, 0x2f, 0x00, 0x00, 0xff, 0xff, 0x82, 0x6b, 0xb0, 0xbd, 0xc0, 0x0c, 0x00, 0x00,
 }
 
 // Reference imports to suppress errors if they are not otherwise used.
@@ -2181,7 +2182,7 @@ func (m *GetValidatorSetByHeightRequest) Unmarshal(dAtA []byte) error {
 				return io.ErrUnexpectedEOF
 			}
 			if m.Pagination == nil {
-				m.Pagination = &PageRequest{}
+				m.Pagination = &query.PageRequest{}
 			}
 			if err := m.Pagination.Unmarshal(dAtA[iNdEx:postIndex]); err != nil {
 				return err
@@ -2323,7 +2324,7 @@ func (m *GetValidatorSetByHeightResponse) Unmarshal(dAtA []byte) error {
 				return io.ErrUnexpectedEOF
 			}
 			if m.Pagination == nil {
-				m.Pagination = &PageResponse{}
+				m.Pagination = &query.PageResponse{}
 			}
 			if err := m.Pagination.Unmarshal(dAtA[iNdEx:postIndex]); err != nil {
 				return err
@@ -2412,7 +2413,7 @@ func (m *GetLatestValidatorSetRequest) Unmarshal(dAtA []byte) error {
 				return io.ErrUnexpectedEOF
 			}
 			if m.Pagination == nil {
-				m.Pagination = &PageRequest{}
+				m.Pagination = &query.PageRequest{}
 			}
 			if err := m.Pagination.Unmarshal(dAtA[iNdEx:postIndex]); err != nil {
 				return err
@@ -2554,7 +2555,7 @@ func (m *GetLatestValidatorSetResponse) Unmarshal(dAtA []byte) error {
 				return io.ErrUnexpectedEOF
 			}
 			if m.Pagination == nil {
-				m.Pagination = &PageResponse{}
+				m.Pagination = &query.PageResponse{}
 			}
 			if err := m.Pagination.Unmarshal(dAtA[iNdEx:postIndex]); err != nil {
 				return err
diff --git a/types/query/query.pb.gw.go b/client/grpc/tmservice/query.pb.gw.go
similarity index 99%
rename from types/query/query.pb.gw.go
rename to client/grpc/tmservice/query.pb.gw.go
index 01b943030d1d..1fcd85268212 100644
--- a/types/query/query.pb.gw.go
+++ b/client/grpc/tmservice/query.pb.gw.go
@@ -2,11 +2,11 @@
 // source: cosmos/base/tendermint/v1beta1/query.proto
 
 /*
-Package query is a reverse proxy.
+Package tmservice is a reverse proxy.
 
 It translates gRPC into RESTful JSON APIs.
 */
-package query
+package tmservice
 
 import (
 	"context"
diff --git a/client/grpc/tmservice/service.go b/client/grpc/tmservice/service.go
index b1198eb67331..b4d9f8c95261 100644
--- a/client/grpc/tmservice/service.go
+++ b/client/grpc/tmservice/service.go
@@ -21,10 +21,10 @@ type queryServer struct {
 	interfaceRegistry codectypes.InterfaceRegistry
 }
 
-var _ qtypes.ServiceServer = queryServer{}
+var _ ServiceServer = queryServer{}
 
 // NewQueryServer creates a new tendermint query server.
-func NewQueryServer(clientCtx client.Context, interfaceRegistry codectypes.InterfaceRegistry) qtypes.ServiceServer {
+func NewQueryServer(clientCtx client.Context, interfaceRegistry codectypes.InterfaceRegistry) ServiceServer {
 	return queryServer{
 		clientCtx:         clientCtx,
 		interfaceRegistry: interfaceRegistry,
@@ -32,18 +32,18 @@ func NewQueryServer(clientCtx client.Context, interfaceRegistry codectypes.Inter
 }
 
 // GetSyncing implements ServiceServer.GetSyncing
-func (s queryServer) GetSyncing(_ context.Context, _ *qtypes.GetSyncingRequest) (*qtypes.GetSyncingResponse, error) {
+func (s queryServer) GetSyncing(_ context.Context, _ *GetSyncingRequest) (*GetSyncingResponse, error) {
 	status, err := getNodeStatus(s.clientCtx)
 	if err != nil {
 		return nil, err
 	}
-	return &qtypes.GetSyncingResponse{
+	return &GetSyncingResponse{
 		Syncing: status.SyncInfo.CatchingUp,
 	}, nil
 }
 
 // GetLatestBlock implements ServiceServer.GetLatestBlock
-func (s queryServer) GetLatestBlock(context.Context, *qtypes.GetLatestBlockRequest) (*qtypes.GetLatestBlockResponse, error) {
+func (s queryServer) GetLatestBlock(context.Context, *GetLatestBlockRequest) (*GetLatestBlockResponse, error) {
 	status, err := getBlock(s.clientCtx, nil)
 	if err != nil {
 		return nil, err
@@ -55,14 +55,14 @@ func (s queryServer) GetLatestBlock(context.Context, *qtypes.GetLatestBlockReque
 		return nil, err
 	}
 
-	return &qtypes.GetLatestBlockResponse{
+	return &GetLatestBlockResponse{
 		BlockId: &protoBlockID,
 		Block:   protoBlock,
 	}, nil
 }
 
 // GetBlockByHeight implements ServiceServer.GetBlockByHeight
-func (s queryServer) GetBlockByHeight(_ context.Context, req *qtypes.GetBlockByHeightRequest) (*qtypes.GetBlockByHeightResponse, error) {
+func (s queryServer) GetBlockByHeight(_ context.Context, req *GetBlockByHeightRequest) (*GetBlockByHeightResponse, error) {
 	chainHeight, err := rpc.GetChainHeight(s.clientCtx)
 	if err != nil {
 		return nil, err
@@ -81,14 +81,14 @@ func (s queryServer) GetBlockByHeight(_ context.Context, req *qtypes.GetBlockByH
 	if err != nil {
 		return nil, err
 	}
-	return &qtypes.GetBlockByHeightResponse{
+	return &GetBlockByHeightResponse{
 		BlockId: &protoBlockID,
 		Block:   protoBlock,
 	}, nil
 }
 
 // GetLatestValidatorSet implements ServiceServer.GetLatestValidatorSet
-func (s queryServer) GetLatestValidatorSet(ctx context.Context, req *qtypes.GetLatestValidatorSetRequest) (*qtypes.GetLatestValidatorSetResponse, error) {
+func (s queryServer) GetLatestValidatorSet(ctx context.Context, req *GetLatestValidatorSetRequest) (*GetLatestValidatorSetResponse, error) {
 	page, limit, err := qtypes.ParsePagination(req.Pagination)
 	if err != nil {
 		return nil, err
@@ -99,13 +99,13 @@ func (s queryServer) GetLatestValidatorSet(ctx context.Context, req *qtypes.GetL
 		return nil, err
 	}
 
-	outputValidatorsRes := &qtypes.GetLatestValidatorSetResponse{
+	outputValidatorsRes := &GetLatestValidatorSetResponse{
 		BlockHeight: validatorsRes.BlockHeight,
-		Validators:  make([]*qtypes.Validator, len(validatorsRes.Validators)),
+		Validators:  make([]*Validator, len(validatorsRes.Validators)),
 	}
 
 	for i, validator := range validatorsRes.Validators {
-		outputValidatorsRes.Validators[i] = &qtypes.Validator{
+		outputValidatorsRes.Validators[i] = &Validator{
 			Address:          validator.Address,
 			ProposerPriority: validator.ProposerPriority,
 			PubKey:           validator.PubKey,
@@ -116,7 +116,7 @@ func (s queryServer) GetLatestValidatorSet(ctx context.Context, req *qtypes.GetL
 }
 
 // GetValidatorSetByHeight implements ServiceServer.GetValidatorSetByHeight
-func (s queryServer) GetValidatorSetByHeight(ctx context.Context, req *qtypes.GetValidatorSetByHeightRequest) (*qtypes.GetValidatorSetByHeightResponse, error) {
+func (s queryServer) GetValidatorSetByHeight(ctx context.Context, req *GetValidatorSetByHeightRequest) (*GetValidatorSetByHeightResponse, error) {
 	page, limit, err := qtypes.ParsePagination(req.Pagination)
 	if err != nil {
 		return nil, err
@@ -136,13 +136,13 @@ func (s queryServer) GetValidatorSetByHeight(ctx context.Context, req *qtypes.Ge
 		return nil, err
 	}
 
-	outputValidatorsRes := &qtypes.GetValidatorSetByHeightResponse{
+	outputValidatorsRes := &GetValidatorSetByHeightResponse{
 		BlockHeight: validatorsRes.BlockHeight,
-		Validators:  make([]*qtypes.Validator, len(validatorsRes.Validators)),
+		Validators:  make([]*Validator, len(validatorsRes.Validators)),
 	}
 
 	for i, validator := range validatorsRes.Validators {
-		outputValidatorsRes.Validators[i] = &qtypes.Validator{
+		outputValidatorsRes.Validators[i] = &Validator{
 			Address:          validator.Address,
 			ProposerPriority: validator.ProposerPriority,
 			PubKey:           validator.PubKey,
@@ -153,7 +153,7 @@ func (s queryServer) GetValidatorSetByHeight(ctx context.Context, req *qtypes.Ge
 }
 
 // GetNodeInfo implements ServiceServer.GetNodeInfo
-func (s queryServer) GetNodeInfo(ctx context.Context, req *qtypes.GetNodeInfoRequest) (*qtypes.GetNodeInfoResponse, error) {
+func (s queryServer) GetNodeInfo(ctx context.Context, req *GetNodeInfoRequest) (*GetNodeInfoResponse, error) {
 	status, err := getNodeStatus(s.clientCtx)
 	if err != nil {
 		return nil, err
@@ -162,19 +162,19 @@ func (s queryServer) GetNodeInfo(ctx context.Context, req *qtypes.GetNodeInfoReq
 	protoNodeInfo := status.NodeInfo.ToProto()
 	nodeInfo := version.NewInfo()
 
-	deps := make([]*qtypes.Module, len(nodeInfo.BuildDeps))
+	deps := make([]*Module, len(nodeInfo.BuildDeps))
 
 	for i, dep := range nodeInfo.BuildDeps {
-		deps[i] = &qtypes.Module{
+		deps[i] = &Module{
 			Path:    dep.Path,
 			Sum:     dep.Sum,
 			Version: dep.Version,
 		}
 	}
 
-	resp := qtypes.GetNodeInfoResponse{
+	resp := GetNodeInfoResponse{
 		DefaultNodeInfo: protoNodeInfo,
-		ApplicationVersion: &qtypes.VersionInfo{
+		ApplicationVersion: &VersionInfo{
 			AppName:   nodeInfo.AppName,
 			Name:      nodeInfo.Name,
 			GitCommit: nodeInfo.GitCommit,
@@ -193,7 +193,7 @@ func RegisterTendermintService(
 	clientCtx client.Context,
 	interfaceRegistry codectypes.InterfaceRegistry,
 ) {
-	qtypes.RegisterServiceServer(
+	RegisterServiceServer(
 		qrt,
 		NewQueryServer(clientCtx, interfaceRegistry),
 	)
@@ -202,5 +202,5 @@ func RegisterTendermintService(
 // RegisterGRPCGatewayRoutes mounts the tendermint service's GRPC-gateway routes on the
 // given Mux.
 func RegisterGRPCGatewayRoutes(clientConn gogogrpc.ClientConn, mux *runtime.ServeMux) {
-	qtypes.RegisterServiceHandlerClient(context.Background(), mux, qtypes.NewServiceClient(clientConn))
+	RegisterServiceHandlerClient(context.Background(), mux, NewServiceClient(clientConn))
 }
diff --git a/client/grpc/tmservice/service_test.go b/client/grpc/tmservice/service_test.go
index bb145e6e21ca..2210486f4427 100644
--- a/client/grpc/tmservice/service_test.go
+++ b/client/grpc/tmservice/service_test.go
@@ -7,6 +7,7 @@ import (
 
 	"github.com/stretchr/testify/suite"
 
+	"github.com/cosmos/cosmos-sdk/client/grpc/tmservice"
 	"github.com/cosmos/cosmos-sdk/testutil/network"
 	qtypes "github.com/cosmos/cosmos-sdk/types/query"
 	"github.com/cosmos/cosmos-sdk/types/rest"
@@ -19,7 +20,7 @@ type IntegrationTestSuite struct {
 	cfg     network.Config
 	network *network.Network
 
-	queryClient qtypes.ServiceClient
+	queryClient tmservice.ServiceClient
 }
 
 func (s *IntegrationTestSuite) SetupSuite() {
@@ -36,7 +37,7 @@ func (s *IntegrationTestSuite) SetupSuite() {
 	_, err := s.network.WaitForHeight(1)
 	s.Require().NoError(err)
 
-	s.queryClient = qtypes.NewServiceClient(s.network.Validators[0].ClientCtx)
+	s.queryClient = tmservice.NewServiceClient(s.network.Validators[0].ClientCtx)
 }
 
 func (s *IntegrationTestSuite) TearDownSuite() {
@@ -47,13 +48,13 @@ func (s *IntegrationTestSuite) TearDownSuite() {
 func (s IntegrationTestSuite) TestQueryNodeInfo() {
 	val := s.network.Validators[0]
 
-	res, err := s.queryClient.GetNodeInfo(context.Background(), &qtypes.GetNodeInfoRequest{})
+	res, err := s.queryClient.GetNodeInfo(context.Background(), &tmservice.GetNodeInfoRequest{})
 	s.Require().NoError(err)
 	s.Require().Equal(res.ApplicationVersion.AppName, version.NewInfo().AppName)
 
 	restRes, err := rest.GetRequest(fmt.Sprintf("%s/cosmos/base/tendermint/v1beta1/node_info", val.APIAddress))
 	s.Require().NoError(err)
-	var getInfoRes qtypes.GetNodeInfoResponse
+	var getInfoRes tmservice.GetNodeInfoResponse
 	s.Require().NoError(val.ClientCtx.JSONMarshaler.UnmarshalJSON(restRes, &getInfoRes))
 	s.Require().Equal(getInfoRes.ApplicationVersion.AppName, version.NewInfo().AppName)
 }
@@ -61,35 +62,35 @@ func (s IntegrationTestSuite) TestQueryNodeInfo() {
 func (s IntegrationTestSuite) TestQuerySyncing() {
 	val := s.network.Validators[0]
 
-	_, err := s.queryClient.GetSyncing(context.Background(), &qtypes.GetSyncingRequest{})
+	_, err := s.queryClient.GetSyncing(context.Background(), &tmservice.GetSyncingRequest{})
 	s.Require().NoError(err)
 
 	restRes, err := rest.GetRequest(fmt.Sprintf("%s/cosmos/base/tendermint/v1beta1/syncing", val.APIAddress))
 	s.Require().NoError(err)
-	var syncingRes qtypes.GetSyncingResponse
+	var syncingRes tmservice.GetSyncingResponse
 	s.Require().NoError(val.ClientCtx.JSONMarshaler.UnmarshalJSON(restRes, &syncingRes))
 }
 
 func (s IntegrationTestSuite) TestQueryLatestBlock() {
 	val := s.network.Validators[0]
 
-	_, err := s.queryClient.GetLatestBlock(context.Background(), &qtypes.GetLatestBlockRequest{})
+	_, err := s.queryClient.GetLatestBlock(context.Background(), &tmservice.GetLatestBlockRequest{})
 	s.Require().NoError(err)
 
 	restRes, err := rest.GetRequest(fmt.Sprintf("%s/cosmos/base/tendermint/v1beta1/blocks/latest", val.APIAddress))
 	s.Require().NoError(err)
-	var blockInfoRes qtypes.GetLatestBlockResponse
+	var blockInfoRes tmservice.GetLatestBlockResponse
 	s.Require().NoError(val.ClientCtx.JSONMarshaler.UnmarshalJSON(restRes, &blockInfoRes))
 }
 
 func (s IntegrationTestSuite) TestQueryBlockByHeight() {
 	val := s.network.Validators[0]
-	_, err := s.queryClient.GetBlockByHeight(context.Background(), &qtypes.GetBlockByHeightRequest{Height: 1})
+	_, err := s.queryClient.GetBlockByHeight(context.Background(), &tmservice.GetBlockByHeightRequest{Height: 1})
 	s.Require().NoError(err)
 
 	restRes, err := rest.GetRequest(fmt.Sprintf("%s/cosmos/base/tendermint/v1beta1/blocks/%d", val.APIAddress, 1))
 	s.Require().NoError(err)
-	var blockInfoRes qtypes.GetBlockByHeightResponse
+	var blockInfoRes tmservice.GetBlockByHeightResponse
 	s.Require().NoError(val.ClientCtx.JSONMarshaler.UnmarshalJSON(restRes, &blockInfoRes))
 }
 
@@ -97,13 +98,13 @@ func (s IntegrationTestSuite) TestQueryLatestValidatorSet() {
 	val := s.network.Validators[0]
 
 	// nil pagination
-	_, err := s.queryClient.GetLatestValidatorSet(context.Background(), &qtypes.GetLatestValidatorSetRequest{
+	_, err := s.queryClient.GetLatestValidatorSet(context.Background(), &tmservice.GetLatestValidatorSetRequest{
 		Pagination: nil,
 	})
 	s.Require().NoError(err)
 
 	//with pagination
-	_, err = s.queryClient.GetLatestValidatorSet(context.Background(), &qtypes.GetLatestValidatorSetRequest{Pagination: &qtypes.PageRequest{
+	_, err = s.queryClient.GetLatestValidatorSet(context.Background(), &tmservice.GetLatestValidatorSetRequest{Pagination: &qtypes.PageRequest{
 		Offset: 0,
 		Limit:  10,
 	}})
@@ -116,7 +117,7 @@ func (s IntegrationTestSuite) TestQueryLatestValidatorSet() {
 	// rest request with pagination
 	restRes, err := rest.GetRequest(fmt.Sprintf("%s/cosmos/base/tendermint/v1beta1/validators/latest?pagination.offset=%d&pagination.limit=%d", val.APIAddress, 0, 1))
 	s.Require().NoError(err)
-	var validatorSetRes qtypes.GetLatestValidatorSetResponse
+	var validatorSetRes tmservice.GetLatestValidatorSetResponse
 	s.Require().NoError(val.ClientCtx.JSONMarshaler.UnmarshalJSON(restRes, &validatorSetRes))
 }
 
@@ -124,13 +125,13 @@ func (s IntegrationTestSuite) TestQueryValidatorSetByHeight() {
 	val := s.network.Validators[0]
 
 	// nil pagination
-	_, err := s.queryClient.GetValidatorSetByHeight(context.Background(), &qtypes.GetValidatorSetByHeightRequest{
+	_, err := s.queryClient.GetValidatorSetByHeight(context.Background(), &tmservice.GetValidatorSetByHeightRequest{
 		Height:     1,
 		Pagination: nil,
 	})
 	s.Require().NoError(err)
 
-	_, err = s.queryClient.GetValidatorSetByHeight(context.Background(), &qtypes.GetValidatorSetByHeightRequest{
+	_, err = s.queryClient.GetValidatorSetByHeight(context.Background(), &tmservice.GetValidatorSetByHeightRequest{
 		Height: 1,
 		Pagination: &qtypes.PageRequest{
 			Offset: 0,
@@ -144,7 +145,7 @@ func (s IntegrationTestSuite) TestQueryValidatorSetByHeight() {
 
 	// rest query with pagination
 	restRes, err := rest.GetRequest(fmt.Sprintf("%s/cosmos/base/tendermint/v1beta1/validators/%d?pagination.offset=%d&pagination.limit=%d", val.APIAddress, 1, 0, 1))
-	var validatorSetRes qtypes.GetValidatorSetByHeightResponse
+	var validatorSetRes tmservice.GetValidatorSetByHeightResponse
 	s.Require().NoError(val.ClientCtx.JSONMarshaler.UnmarshalJSON(restRes, &validatorSetRes))
 }
 
diff --git a/go.mod b/go.mod
index 39e28042489b..8163ebbfbe62 100644
--- a/go.mod
+++ b/go.mod
@@ -23,6 +23,7 @@ require (
 	github.com/golang/snappy v0.0.2 // indirect
 	github.com/gorilla/handlers v1.5.1
 	github.com/gorilla/mux v1.8.0
+	github.com/grpc-ecosystem/go-grpc-middleware v1.2.2
 	github.com/grpc-ecosystem/grpc-gateway v1.16.0
 	github.com/hashicorp/golang-lru v0.5.4
 	github.com/magiconair/properties v1.8.4
diff --git a/go.sum b/go.sum
index da0703bd69d8..b6ae47006000 100644
--- a/go.sum
+++ b/go.sum
@@ -247,6 +247,7 @@ github.com/gorilla/websocket v1.4.2/go.mod h1:YR8l580nyteQvAITg2hZ9XVh4b55+EU/ad
 github.com/grpc-ecosystem/go-grpc-middleware v1.0.0/go.mod h1:FiyG127CGDf3tlThmgyCl78X/SZQqEOJBCDaAfeWzPs=
 github.com/grpc-ecosystem/go-grpc-middleware v1.0.1-0.20190118093823-f849b5445de4/go.mod h1:FiyG127CGDf3tlThmgyCl78X/SZQqEOJBCDaAfeWzPs=
 github.com/grpc-ecosystem/go-grpc-middleware v1.2.1/go.mod h1:EaizFBKfUKtMIF5iaDEhniwNedqGo9FuLFzppDr3uwI=
+github.com/grpc-ecosystem/go-grpc-middleware v1.2.2 h1:FlFbCRLd5Jr4iYXZufAvgWN6Ao0JrI5chLINnUXDDr0=
 github.com/grpc-ecosystem/go-grpc-middleware v1.2.2/go.mod h1:EaizFBKfUKtMIF5iaDEhniwNedqGo9FuLFzppDr3uwI=
 github.com/grpc-ecosystem/go-grpc-prometheus v1.2.0/go.mod h1:8NvIoxWQoOIhqOTXgfV/d3M/q6VIi02HzZEHgUlZvzk=
 github.com/grpc-ecosystem/grpc-gateway v1.8.5/go.mod h1:vNeuVxBJEsws4ogUvrchl83t/GYV9WGTSLVdBhOQFDY=
diff --git a/proto/cosmos/base/tendermint/v1beta1/query.proto b/proto/cosmos/base/tendermint/v1beta1/query.proto
index b5220231ac0b..640522e7a9f2 100644
--- a/proto/cosmos/base/tendermint/v1beta1/query.proto
+++ b/proto/cosmos/base/tendermint/v1beta1/query.proto
@@ -8,7 +8,7 @@ import "tendermint/types/block.proto";
 import "tendermint/types/types.proto";
 import "cosmos/base/query/v1beta1/pagination.proto";
 
-option go_package = "github.com/cosmos/cosmos-sdk/types/query";
+option go_package = "github.com/cosmos/cosmos-sdk/client/grpc/tmservice";
 
 // Service defines the gRPC querier service for tendermint queries.
 service Service {
diff --git a/server/grpc/server_test.go b/server/grpc/server_test.go
index bfa39d818523..9afa0b750b04 100644
--- a/server/grpc/server_test.go
+++ b/server/grpc/server_test.go
@@ -11,13 +11,14 @@ import (
 	"github.com/stretchr/testify/suite"
 	"google.golang.org/grpc"
 	"google.golang.org/grpc/metadata"
-
 	rpb "google.golang.org/grpc/reflection/grpc_reflection_v1alpha"
 
 	"github.com/cosmos/cosmos-sdk/testutil/network"
 	"github.com/cosmos/cosmos-sdk/testutil/testdata"
 	sdk "github.com/cosmos/cosmos-sdk/types"
 	grpctypes "github.com/cosmos/cosmos-sdk/types/grpc"
+	"github.com/cosmos/cosmos-sdk/types/tx"
+	txtypes "github.com/cosmos/cosmos-sdk/types/tx"
 	banktypes "github.com/cosmos/cosmos-sdk/x/bank/types"
 )
 
@@ -99,6 +100,19 @@ func (s *IntegrationTestSuite) TestGRPCServer() {
 	}
 	// Make sure the following services are present
 	s.Require().True(servicesMap["cosmos.bank.v1beta1.Query"])
+
+	// Query the tx via gRPC without pagination. This used to panic, see
+	// https://github.com/cosmos/cosmos-sdk/issues/8038.
+	txServiceClient := txtypes.NewServiceClient(conn)
+	_, err = txServiceClient.GetTxsEvent(
+		context.Background(),
+		&tx.GetTxsEventRequest{
+			Event: "message.action=send",
+		},
+	)
+	// TODO Once https://github.com/cosmos/cosmos-sdk/pull/8029 is merged, this
+	// should not error anymore.
+	s.Require().Error(err)
 }
 
 // Test and enforce that we upfront reject any connections to baseapp containing
diff --git a/types/errors/abci.go b/types/errors/abci.go
index f297e4ca6987..df85f6bc89df 100644
--- a/types/errors/abci.go
+++ b/types/errors/abci.go
@@ -151,12 +151,14 @@ func errIsNil(err error) bool {
 	return false
 }
 
+var errPanicWithMsg = Wrapf(ErrPanic, "panic message redacted to hide potentially sensitive system info")
+
 // Redact replaces an error that is not initialized as an ABCI Error with a
 // generic internal error instance. If the error is an ABCI Error, that error is
 // simply returned.
 func Redact(err error) error {
 	if ErrPanic.Is(err) {
-		return ErrPanic
+		return errPanicWithMsg
 	}
 	if abciCode(err) == internalABCICode {
 		return errInternal
diff --git a/types/errors/abci_test.go b/types/errors/abci_test.go
index 18d6b1f2e693..02c12e7bbdd6 100644
--- a/types/errors/abci_test.go
+++ b/types/errors/abci_test.go
@@ -171,7 +171,7 @@ func (s *abciTestSuite) TestRedact() {
 	}{
 		"panic looses message": {
 			err:     Wrap(ErrPanic, "some secret stack trace"),
-			changed: ErrPanic,
+			changed: errPanicWithMsg,
 		},
 		"sdk errors untouched": {
 			err:       Wrap(ErrUnauthorized, "cannot drop db"),
@@ -233,7 +233,7 @@ func (s *abciTestSuite) TestABCIInfoSerializeErr() {
 		},
 		"redact in default encoder": {
 			src: myPanic,
-			exp: "panic",
+			exp: "panic message redacted to hide potentially sensitive system info: panic",
 		},
 		"do not redact in debug encoder": {
 			src:   myPanic,
diff --git a/x/auth/tx/service_test.go b/x/auth/tx/service_test.go
index a1bacb55cb40..54fe14fd72f3 100644
--- a/x/auth/tx/service_test.go
+++ b/x/auth/tx/service_test.go
@@ -127,7 +127,8 @@ func (s IntegrationTestSuite) TestGetTxEvents() {
 	// Query the tx via gRPC.
 	grpcRes, err := s.queryClient.GetTxsEvent(
 		context.Background(),
-		&tx.GetTxsEventRequest{Event: "message.action=send",
+		&tx.GetTxsEventRequest{
+			Event: "message.action=send",
 			Pagination: &query.PageRequest{
 				CountTotal: false,
 				Offset:     0,
@@ -139,14 +140,26 @@ func (s IntegrationTestSuite) TestGetTxEvents() {
 	s.Require().Equal(len(grpcRes.Txs), 1)
 	s.Require().Equal("foobar", grpcRes.Txs[0].Body.Memo)
 
+	// Query the tx via gRPC without pagination. This used to panic, see
+	// https://github.com/cosmos/cosmos-sdk/issues/8038.
+	grpcRes, err = s.queryClient.GetTxsEvent(
+		context.Background(),
+		&tx.GetTxsEventRequest{
+			Event: "message.action=send",
+		},
+	)
+	// TODO Once https://github.com/cosmos/cosmos-sdk/pull/8029 is merged, this
+	// should not error anymore.
+	s.Require().Error(err)
+
 	// Query the tx via grpc-gateway.
 	restRes, err := rest.GetRequest(fmt.Sprintf("%s/cosmos/tx/v1beta1/txs?event=%s&pagination.offset=%d&pagination.limit=%d", val.APIAddress, "message.action=send", 0, 1))
 	s.Require().NoError(err)
 	var getTxRes tx.GetTxsEventResponse
 	s.Require().NoError(val.ClientCtx.JSONMarshaler.UnmarshalJSON(restRes, &getTxRes))
-	s.Require().Equal(len(grpcRes.Txs), 1)
+	s.Require().Equal(len(getTxRes.Txs), 1)
 	s.Require().Equal("foobar", getTxRes.Txs[0].Body.Memo)
-	s.Require().NotZero(grpcRes.TxResponses[0].Height)
+	s.Require().NotZero(getTxRes.TxResponses[0].Height)
 }
 
 func (s IntegrationTestSuite) TestGetTx() {