diff --git a/raft/src/main/java/org/apache/kafka/raft/LeaderState.java b/raft/src/main/java/org/apache/kafka/raft/LeaderState.java
index fcb4a5950bc7f..15dbb4ec48370 100644
--- a/raft/src/main/java/org/apache/kafka/raft/LeaderState.java
+++ b/raft/src/main/java/org/apache/kafka/raft/LeaderState.java
@@ -117,9 +117,10 @@ public long timeUntilCheckQuorumExpires(long currentTimeMs) {
         long remainingMs = checkQuorumTimer.remainingMs();
         if (remainingMs == 0) {
             log.info(
-                "Did not receive fetch request from the majority of the voters within {}ms. Current fetched voters are {}.",
+                "Did not receive fetch request from the majority of the voters within {}ms. Current fetched voters are {}, and voters are {}",
                 checkQuorumTimeoutMs,
-                fetchedVoters);
+                fetchedVoters,
+                voterStates.keySet());
         }
         return remainingMs;
     }
@@ -132,8 +133,16 @@ public long timeUntilCheckQuorumExpires(long currentTimeMs) {
      */
     public void updateCheckQuorumForFollowingVoter(int id, long currentTimeMs) {
         updateFetchedVoters(id);
-        // The majority number of the voters excluding the leader. Ex: 3 voters, the value will be 1
-        int majority = voterStates.size() / 2;
+        // The majority number of the voters. Ex: 2 for 3 voters, 3 for 4 voters... etc.
+        int majority = (voterStates.size() / 2) + 1;
+        // If the leader is in the voter set, it should be implicitly counted as part of the
+        // majority, but the leader will never be a member of the fetchedVoters.
+        // If the leader is not in the voter set, it is not in the majority. Then, the
+        // majority can only be composed of fetched voters.
+        if (voterStates.containsKey(localId)) {
+            majority = majority - 1;
+        }
+
         if (fetchedVoters.size() >= majority) {
             fetchedVoters.clear();
             checkQuorumTimer.update(currentTimeMs);
diff --git a/raft/src/test/java/org/apache/kafka/raft/LeaderStateTest.java b/raft/src/test/java/org/apache/kafka/raft/LeaderStateTest.java
index 20b9e0b3f29c7..4f93e51372bd6 100644
--- a/raft/src/test/java/org/apache/kafka/raft/LeaderStateTest.java
+++ b/raft/src/test/java/org/apache/kafka/raft/LeaderStateTest.java
@@ -761,6 +761,50 @@ public void testCheckQuorum() {
         assertEquals(0, state.timeUntilCheckQuorumExpires(time.milliseconds()));
     }
 
+    @Test
+    public void testCheckQuorumAfterVoterSetChanges() {
+        int node1 = 1;
+        int node2 = 2;
+        int node3 = 3;
+        Set<Integer> originalVoterSet = mkSet(localId, node1, node2);
+        LeaderState<?> state = newLeaderState(originalVoterSet, 0L);
+        assertEquals(checkQuorumTimeoutMs, state.timeUntilCheckQuorumExpires(time.milliseconds()));
+
+        // checkQuorum timeout not exceeded, should not expire the timer
+        time.sleep(checkQuorumTimeoutMs / 2);
+        assertEquals(checkQuorumTimeoutMs / 2, state.timeUntilCheckQuorumExpires(time.milliseconds()));
+
+        // received fetch request from 1 voter node, the timer should be reset
+        state.updateCheckQuorumForFollowingVoter(node1, time.milliseconds());
+        assertEquals(checkQuorumTimeoutMs, state.timeUntilCheckQuorumExpires(time.milliseconds()));
+
+        // Adding 1 new voter to the voter set
+        Set<Integer> voterSetWithNode3 = mkSet(localId, node1, node2, node3);
+        state.updateLocalState(new LogOffsetMetadata(1L), toMap(voterSetWithNode3));
+
+        time.sleep(checkQuorumTimeoutMs / 2);
+        // received fetch request from 1 voter node, the timer should not be reset because the majority should be 3
+        state.updateCheckQuorumForFollowingVoter(node1, time.milliseconds());
+        assertEquals(checkQuorumTimeoutMs / 2, state.timeUntilCheckQuorumExpires(time.milliseconds()));
+
+        // Timer should be reset after receiving another voter's fetch request
+        state.updateCheckQuorumForFollowingVoter(node2, time.milliseconds());
+        assertEquals(checkQuorumTimeoutMs, state.timeUntilCheckQuorumExpires(time.milliseconds()));
+
+        // removing leader from the voter set
+        Set<Integer> voterSetWithoutLeader = mkSet(node1, node2, node3);
+        state.updateLocalState(new LogOffsetMetadata(1L), toMap(voterSetWithoutLeader));
+
+        time.sleep(checkQuorumTimeoutMs / 2);
+        // received fetch request from 1 voter, the timer should not be reset.
+        state.updateCheckQuorumForFollowingVoter(node2, time.milliseconds());
+        assertEquals(checkQuorumTimeoutMs / 2, state.timeUntilCheckQuorumExpires(time.milliseconds()));
+
+        // received fetch request from another voter, the timer should be reset since the current quorum majority is 2.
+        state.updateCheckQuorumForFollowingVoter(node1, time.milliseconds());
+        assertEquals(checkQuorumTimeoutMs, state.timeUntilCheckQuorumExpires(time.milliseconds()));
+    }
+
     @Test
     public void testCheckQuorumWithOneVoter() {
         int observer = 1;