diff --git a/source/common/upstream/health_checker_impl.cc b/source/common/upstream/health_checker_impl.cc
index 62b2397f9329e..3904b5a8986d5 100644
--- a/source/common/upstream/health_checker_impl.cc
+++ b/source/common/upstream/health_checker_impl.cc
@@ -714,6 +714,11 @@ void GrpcHealthCheckerImpl::GrpcActiveHealthCheckSession::onResetStream(Http::St
   ENVOY_CONN_LOG(debug, "connection/stream error health_flags={}", *client_,
                  HostUtility::healthFlagsToString(*host_));
 
+  if (!parent_.reuse_connection_) {
+    // Stream reset was unexpected, so we haven't closed the connection yet.
+    client_->close();
+  }
+
   // TODO(baranov1ch): according to all HTTP standards, we should check if reason is one of
   // Http::StreamResetReason::RemoteRefusedStreamReset (which may mean GOAWAY),
   // Http::StreamResetReason::RemoteReset or Http::StreamResetReason::ConnectionTermination (both
@@ -783,7 +788,11 @@ void GrpcHealthCheckerImpl::GrpcActiveHealthCheckSession::onTimeout() {
   ENVOY_CONN_LOG(debug, "connection/stream timeout health_flags={}", *client_,
                  HostUtility::healthFlagsToString(*host_));
   expect_reset_ = true;
-  request_encoder_->getStream().resetStream(Http::StreamResetReason::LocalReset);
+  if (!parent_.reuse_connection_) {
+    client_->close();
+  } else {
+    request_encoder_->getStream().resetStream(Http::StreamResetReason::LocalReset);
+  }
 }
 
 void GrpcHealthCheckerImpl::GrpcActiveHealthCheckSession::logHealthCheckStatus(
diff --git a/test/common/upstream/health_checker_impl_test.cc b/test/common/upstream/health_checker_impl_test.cc
index 562edf43d67af..dc328cb18516a 100644
--- a/test/common/upstream/health_checker_impl_test.cc
+++ b/test/common/upstream/health_checker_impl_test.cc
@@ -4487,6 +4487,66 @@ TEST_F(GrpcHealthCheckerImplTest, DontReuseConnectionBetweenChecks) {
   expectHostHealthy(true);
 }
 
+// Test that we close connections when a timeout occurs and reuse_connection is false.
+TEST_F(GrpcHealthCheckerImplTest, DontReuseConnectionTimeout) {
+  setupNoReuseConnectionHC();
+  cluster_->prioritySet().getMockHostSet(0)->hosts_ = {
+      makeTestHost(cluster_->info_, "tcp://127.0.0.1:80")};
+
+  expectSessionCreate();
+  expectHealthcheckStart(0);
+  EXPECT_CALL(event_logger_, logUnhealthy(_, _, _, true));
+  health_checker_->start();
+
+  expectHealthcheckStop(0);
+  // Timeouts are considered network failures and make host unhealthy also after 2nd event.
+  EXPECT_CALL(*this, onHostStatus(_, HealthTransition::ChangePending));
+  test_sessions_[0]->timeout_timer_->invokeCallback();
+  expectHostHealthy(true);
+
+  // A new client is created because we close the connection
+  // when a timeout occurs and connection reuse is disabled.
+  expectClientCreate(0);
+  expectHealthcheckStart(0);
+  test_sessions_[0]->interval_timer_->invokeCallback();
+
+  expectHealthcheckStop(0);
+  // Test host state haven't changed.
+  EXPECT_CALL(*this, onHostStatus(_, HealthTransition::Unchanged));
+  respondServiceStatus(0, grpc::health::v1::HealthCheckResponse::SERVING);
+  expectHostHealthy(true);
+}
+
+// Test that we close connections when a stream reset occurs and reuse_connection is false.
+TEST_F(GrpcHealthCheckerImplTest, DontReuseConnectionStreamReset) {
+  setupNoReuseConnectionHC();
+  cluster_->prioritySet().getMockHostSet(0)->hosts_ = {
+      makeTestHost(cluster_->info_, "tcp://127.0.0.1:80")};
+
+  expectSessionCreate();
+  expectHealthcheckStart(0);
+  EXPECT_CALL(event_logger_, logUnhealthy(_, _, _, true));
+  health_checker_->start();
+
+  expectHealthcheckStop(0);
+  // Resets are considered network failures and make host unhealthy also after 2nd event.
+  EXPECT_CALL(*this, onHostStatus(_, HealthTransition::ChangePending));
+  test_sessions_[0]->request_encoder_.stream_.resetStream(Http::StreamResetReason::RemoteReset);
+  expectHostHealthy(true);
+
+  // A new client is created because we close the connection
+  // when a stream reset occurs and connection reuse is disabled.
+  expectClientCreate(0);
+  expectHealthcheckStart(0);
+  test_sessions_[0]->interval_timer_->invokeCallback();
+
+  expectHealthcheckStop(0);
+  // Test host state haven't changed.
+  EXPECT_CALL(*this, onHostStatus(_, HealthTransition::Unchanged));
+  respondServiceStatus(0, grpc::health::v1::HealthCheckResponse::SERVING);
+  expectHostHealthy(true);
+}
+
 // Test UNKNOWN health status is considered unhealthy.
 TEST_F(GrpcHealthCheckerImplTest, GrpcFailUnknown) {
   setupHC();