diff --git a/doc/classes/Physics2DServer.xml b/doc/classes/Physics2DServer.xml
index 175c43208038..64daea3539fe 100644
--- a/doc/classes/Physics2DServer.xml
+++ b/doc/classes/Physics2DServer.xml
@@ -348,7 +348,7 @@
 			<return type="Physics2DDirectBodyState" />
 			<argument index="0" name="body" type="RID" />
 			<description>
-				Returns the [Physics2DDirectBodyState] of the body.
+				Returns the [Physics2DDirectBodyState] of the body. Returns [code]null[/code] if the body is destroyed or removed from the physics space.
 			</description>
 		</method>
 		<method name="body_get_max_contacts_reported" qualifiers="const">
diff --git a/doc/classes/PhysicsServer.xml b/doc/classes/PhysicsServer.xml
index 22e9f4b0358b..107a87412242 100644
--- a/doc/classes/PhysicsServer.xml
+++ b/doc/classes/PhysicsServer.xml
@@ -332,7 +332,7 @@
 			<return type="PhysicsDirectBodyState" />
 			<argument index="0" name="body" type="RID" />
 			<description>
-				Returns the [PhysicsDirectBodyState] of the body.
+				Returns the [PhysicsDirectBodyState] of the body. Returns [code]null[/code] if the body is destroyed or removed from the physics space.
 			</description>
 		</method>
 		<method name="body_get_kinematic_safe_margin" qualifiers="const">
diff --git a/modules/bullet/bullet_physics_server.cpp b/modules/bullet/bullet_physics_server.cpp
index 820cc07b4949..a4344665b51e 100644
--- a/modules/bullet/bullet_physics_server.cpp
+++ b/modules/bullet/bullet_physics_server.cpp
@@ -851,8 +851,17 @@ bool BulletPhysicsServer::body_is_ray_pickable(RID p_body) const {
 }
 
 PhysicsDirectBodyState *BulletPhysicsServer::body_get_direct_state(RID p_body) {
+	if (!rigid_body_owner.owns(p_body)) {
+		return nullptr;
+	}
+
 	RigidBodyBullet *body = rigid_body_owner.get(p_body);
 	ERR_FAIL_COND_V(!body, nullptr);
+
+	if (!body->get_space()) {
+		return nullptr;
+	}
+
 	return BulletPhysicsDirectBodyState::get_singleton(body);
 }
 
diff --git a/scene/2d/physics_body_2d.cpp b/scene/2d/physics_body_2d.cpp
index 424ad75cc8d0..59eb41c4eca1 100644
--- a/scene/2d/physics_body_2d.cpp
+++ b/scene/2d/physics_body_2d.cpp
@@ -1120,6 +1120,10 @@ Vector2 KinematicBody2D::_move_and_slide_internal(const Vector2 &p_linear_veloci
 			Transform2D gt = get_global_transform();
 			Vector2 local_position = gt.elements[2] - bs->get_transform().elements[2];
 			current_floor_velocity = bs->get_velocity_at_local_position(local_position);
+		} else {
+			// Body is removed or destroyed, invalidate floor.
+			current_floor_velocity = Vector2();
+			on_floor_body = RID();
 		}
 	}
 
diff --git a/scene/3d/physics_body.cpp b/scene/3d/physics_body.cpp
index 82a5c42a67f8..18a0cff35114 100644
--- a/scene/3d/physics_body.cpp
+++ b/scene/3d/physics_body.cpp
@@ -1074,6 +1074,10 @@ Vector3 KinematicBody::_move_and_slide_internal(const Vector3 &p_linear_velocity
 			Transform gt = get_global_transform();
 			Vector3 local_position = gt.origin - bs->get_transform().origin;
 			current_floor_velocity = bs->get_velocity_at_local_position(local_position);
+		} else {
+			// Body is removed or destroyed, invalidate floor.
+			current_floor_velocity = Vector3();
+			on_floor_body = RID();
 		}
 	}
 
diff --git a/servers/physics/physics_server_sw.cpp b/servers/physics/physics_server_sw.cpp
index c889d9187398..365b98472ea5 100644
--- a/servers/physics/physics_server_sw.cpp
+++ b/servers/physics/physics_server_sw.cpp
@@ -881,8 +881,17 @@ int PhysicsServerSW::body_test_ray_separation(RID p_body, const Transform &p_tra
 }
 
 PhysicsDirectBodyState *PhysicsServerSW::body_get_direct_state(RID p_body) {
+	if (!body_owner.owns(p_body)) {
+		return nullptr;
+	}
+
 	BodySW *body = body_owner.get(p_body);
 	ERR_FAIL_COND_V(!body, nullptr);
+
+	if (!body->get_space()) {
+		return nullptr;
+	}
+
 	ERR_FAIL_COND_V_MSG(body->get_space()->is_locked(), nullptr, "Body state is inaccessible right now, wait for iteration or physics process notification.");
 
 	direct_state->body = body;
diff --git a/servers/physics_2d/physics_2d_server_sw.cpp b/servers/physics_2d/physics_2d_server_sw.cpp
index eb526fe2ea47..21c9be258f5e 100644
--- a/servers/physics_2d/physics_2d_server_sw.cpp
+++ b/servers/physics_2d/physics_2d_server_sw.cpp
@@ -962,7 +962,11 @@ Physics2DDirectBodyState *Physics2DServerSW::body_get_direct_state(RID p_body) {
 
 	Body2DSW *body = body_owner.get(p_body);
 	ERR_FAIL_COND_V(!body, nullptr);
-	ERR_FAIL_COND_V(!body->get_space(), nullptr);
+
+	if (!body->get_space()) {
+		return nullptr;
+	}
+
 	ERR_FAIL_COND_V_MSG(body->get_space()->is_locked(), nullptr, "Body state is inaccessible right now, wait for iteration or physics process notification.");
 
 	direct_state->body = body;