diff --git a/prdoc/pr_5197.prdoc b/prdoc/pr_5197.prdoc
new file mode 100644
index 000000000000..40e25cf70dd1
--- /dev/null
+++ b/prdoc/pr_5197.prdoc
@@ -0,0 +1,16 @@
+# Schema: Polkadot SDK PRDoc Schema (prdoc) v1.0.0
+# See doc at https://raw.githubusercontent.com/paritytech/polkadot-sdk/master/prdoc/schema_user.json
+
+title: Prevent `ConsensusReset` by tolerating runtime API errors in BEEFY
+
+doc:
+  - audience: Node Operator
+    description: |
+      After warp sync, the BEEFY worker was trying to execute runtime calls on
+      blocks which had their state already pruned. This led to an error and restarting
+      of the beefy subsystem in a loop. After this PR, the worker tolerates call errors and therefore prevents this
+      worker restart loop.
+
+crates:
+  - name: sc-consensus-beefy
+    bump: minor
diff --git a/substrate/client/consensus/beefy/src/lib.rs b/substrate/client/consensus/beefy/src/lib.rs
index f7c999aad591..30cdd494905f 100644
--- a/substrate/client/consensus/beefy/src/lib.rs
+++ b/substrate/client/consensus/beefy/src/lib.rs
@@ -32,7 +32,7 @@ use crate::{
 	metrics::register_metrics,
 };
 use futures::{stream::Fuse, FutureExt, StreamExt};
-use log::{debug, error, info, warn};
+use log::{debug, error, info, trace, warn};
 use parking_lot::Mutex;
 use prometheus_endpoint::Registry;
 use sc_client_api::{Backend, BlockBackend, BlockchainEvents, FinalityNotification, Finalizer};
@@ -451,7 +451,8 @@ where
 			state.set_best_grandpa(best_grandpa.clone());
 			// Overwrite persisted data with newly provided `min_block_delta`.
 			state.set_min_block_delta(min_block_delta);
-			debug!(target: LOG_TARGET, "🥩 Loading BEEFY voter state from db: {:?}.", state);
+			debug!(target: LOG_TARGET, "🥩 Loading BEEFY voter state from db.");
+			trace!(target: LOG_TARGET, "🥩 Loaded state: {:?}.", state);
 
 			// Make sure that all the headers that we need have been synced.
 			let mut new_sessions = vec![];
diff --git a/substrate/client/consensus/beefy/src/worker.rs b/substrate/client/consensus/beefy/src/worker.rs
index ca714ffadd77..3c7f3b1b6efa 100644
--- a/substrate/client/consensus/beefy/src/worker.rs
+++ b/substrate/client/consensus/beefy/src/worker.rs
@@ -458,13 +458,18 @@ where
 			notification.tree_route,
 		);
 
-		self.runtime
-			.runtime_api()
-			.beefy_genesis(notification.hash)
-			.ok()
-			.flatten()
-			.filter(|genesis| *genesis == self.persisted_state.pallet_genesis)
-			.ok_or(Error::ConsensusReset)?;
+		match self.runtime.runtime_api().beefy_genesis(notification.hash) {
+			Ok(Some(genesis)) if genesis != self.persisted_state.pallet_genesis => {
+				debug!(target: LOG_TARGET, "🥩 ConsensusReset detected. Expected genesis: {}, found genesis: {}", self.persisted_state.pallet_genesis, genesis);
+				return Err(Error::ConsensusReset)
+			},
+			Ok(_) => {},
+			Err(api_error) => {
+				// This can happen in case the block was already pruned.
+				// Mostly after warp sync when finality notifications are piled up.
+				debug!(target: LOG_TARGET, "🥩 Unable to check beefy genesis: {}", api_error);
+			},
+		}
 
 		let mut new_session_added = false;
 		if *header.number() > self.best_grandpa_block() {