diff --git a/core/src/main/scala/kafka/coordinator/group/GroupCoordinator.scala b/core/src/main/scala/kafka/coordinator/group/GroupCoordinator.scala
index 0be2a48867e..64884ec5dbb 100644
--- a/core/src/main/scala/kafka/coordinator/group/GroupCoordinator.scala
+++ b/core/src/main/scala/kafka/coordinator/group/GroupCoordinator.scala
@@ -1110,24 +1110,37 @@ class GroupCoordinator(val brokerId: Int,
 
   def tryCompleteHeartbeat(group: GroupMetadata, memberId: String, isPending: Boolean, heartbeatDeadline: Long, forceComplete: () => Boolean) = {
     group.inLock {
-      if (isPending) {
+      // The group has been unloaded and invalid, we should complete the heartbeat.
+      if (group.is(Dead)) {
+        forceComplete()
+      } else if (isPending) {
         // complete the heartbeat if the member has joined the group
         if (group.has(memberId)) {
           forceComplete()
         } else false
-      }
-      else {
-        val member = group.get(memberId)
-        if (member.shouldKeepAlive(heartbeatDeadline) || member.isLeaving) {
+      } else {
+        if (shouldCompleteNonPendingHeartbeat(group, memberId, heartbeatDeadline)) {
           forceComplete()
         } else false
       }
     }
   }
 
+  def shouldCompleteNonPendingHeartbeat(group: GroupMetadata, memberId: String, heartbeatDeadline: Long): Boolean = {
+    if (group.has(memberId)) {
+      val member = group.get(memberId)
+      member.shouldKeepAlive(heartbeatDeadline) || member.isLeaving
+    } else {
+      info(s"Member id $memberId was not found in ${group.groupId} during heartbeat expiration.")
+      false
+    }
+  }
+
   def onExpireHeartbeat(group: GroupMetadata, memberId: String, isPending: Boolean, heartbeatDeadline: Long): Unit = {
     group.inLock {
-      if (isPending) {
+      if (group.is(Dead)) {
+        info(s"Received notification of heartbeat expiration for member $memberId after group ${group.groupId} had already been unloaded or deleted.")
+      } else if (isPending) {
         info(s"Pending member $memberId in group ${group.groupId} has been removed after session timeout expiration.")
         removePendingMemberAndUpdateGroup(group, memberId)
       } else if (!group.has(memberId)) {
diff --git a/core/src/test/scala/unit/kafka/coordinator/group/GroupCoordinatorTest.scala b/core/src/test/scala/unit/kafka/coordinator/group/GroupCoordinatorTest.scala
index 9cc0d3a18ab..91a963d7f14 100644
--- a/core/src/test/scala/unit/kafka/coordinator/group/GroupCoordinatorTest.scala
+++ b/core/src/test/scala/unit/kafka/coordinator/group/GroupCoordinatorTest.scala
@@ -1188,15 +1188,15 @@ class GroupCoordinatorTest {
 
     EasyMock.reset(replicaManager)
     val followerId = followerJoinGroupResult.memberId
-    val follwerSyncGroupResult = syncGroupFollower(groupId, leaderJoinGroupResult.generationId, followerId)
-    assertEquals(Errors.NONE, follwerSyncGroupResult._2)
+    val followerSyncGroupResult = syncGroupFollower(groupId, leaderJoinGroupResult.generationId, followerId)
+    assertEquals(Errors.NONE, followerSyncGroupResult._2)
     assertTrue(getGroup(groupId).is(Stable))
 
     new RebalanceResult(newGeneration,
       leaderId,
       leaderSyncGroupResult._1,
       followerId,
-      follwerSyncGroupResult._1)
+      followerSyncGroupResult._1)
   }
 
   private def checkJoinGroupResult(joinGroupResult: JoinGroupResult,
@@ -3101,6 +3101,31 @@ class GroupCoordinatorTest {
     assertEquals(Errors.NONE, thirdResult.error)
   }
 
+  @Test
+  def testCompleteHeartbeatWithGroupDead(): Unit = {
+    val rebalanceResult = staticMembersJoinAndRebalance(leaderInstanceId, followerInstanceId)
+    EasyMock.reset(replicaManager)
+    heartbeat(groupId, rebalanceResult.leaderId, rebalanceResult.generation)
+    val group = getGroup(groupId)
+    group.transitionTo(Dead)
+    val leaderMemberId = rebalanceResult.leaderId
+    assertTrue(groupCoordinator.tryCompleteHeartbeat(group, leaderMemberId, false, DefaultSessionTimeout, () => true))
+    groupCoordinator.onExpireHeartbeat(group, leaderMemberId, false, DefaultSessionTimeout)
+    assertTrue(group.has(leaderMemberId))
+  }
+
+  @Test
+  def testCompleteHeartbeatWithMemberAlreadyRemoved(): Unit = {
+    val rebalanceResult = staticMembersJoinAndRebalance(leaderInstanceId, followerInstanceId)
+    EasyMock.reset(replicaManager)
+    heartbeat(groupId, rebalanceResult.leaderId, rebalanceResult.generation)
+    val group = getGroup(groupId)
+    val leaderMemberId = rebalanceResult.leaderId
+    group.remove(leaderMemberId)
+    assertFalse(groupCoordinator.tryCompleteHeartbeat(group, leaderMemberId, false, DefaultSessionTimeout, () => true))
+    groupCoordinator.onExpireHeartbeat(group, leaderMemberId, false, DefaultSessionTimeout)
+  }
+
   private def getGroup(groupId: String): GroupMetadata = {
     val groupOpt = groupCoordinator.groupManager.getGroup(groupId)
     assertTrue(groupOpt.isDefined)