diff --git a/src/cluster_legacy.c b/src/cluster_legacy.c
index 69af65f1e8..7b3384ee9f 100644
--- a/src/cluster_legacy.c
+++ b/src/cluster_legacy.c
@@ -4363,12 +4363,17 @@ void clusterSendFailoverAuthIfNeeded(clusterNode *node, clusterMsg *request) {
 
     /* We did not voted for a replica about this primary for two
      * times the node timeout. This is not strictly needed for correctness
-     * of the algorithm but makes the base case more linear. */
-    if (mstime() - node->replicaof->voted_time < server.cluster_node_timeout * 2) {
+     * of the algorithm but makes the base case more linear.
+     *
+     * This limitation does not restrict manual failover. If a user initiates
+     * a manual failover, we need to allow it to vote, otherwise the manual
+     * failover may time out. */
+    if (!force_ack && mstime() - node->replicaof->voted_time < server.cluster_node_timeout * 2) {
         serverLog(LL_WARNING,
-                  "Failover auth denied to %.40s %s: "
-                  "can't vote about this primary before %lld milliseconds",
+                  "Failover auth denied to %.40s (%s): "
+                  "can't vote for any replica of %.40s (%s) within %lld milliseconds",
                   node->name, node->human_nodename,
+                  node->replicaof->name, node->replicaof->human_nodename,
                   (long long)((server.cluster_node_timeout * 2) - (mstime() - node->replicaof->voted_time)));
         return;
     }
@@ -4394,7 +4399,7 @@ void clusterSendFailoverAuthIfNeeded(clusterNode *node, clusterMsg *request) {
 
     /* We can vote for this replica. */
     server.cluster->lastVoteEpoch = server.cluster->currentEpoch;
-    node->replicaof->voted_time = mstime();
+    if (!force_ack) node->replicaof->voted_time = mstime();
     clusterDoBeforeSleep(CLUSTER_TODO_SAVE_CONFIG | CLUSTER_TODO_FSYNC_CONFIG);
     clusterSendFailoverAuth(node);
     serverLog(LL_NOTICE, "Failover auth granted to %.40s (%s) for epoch %llu", node->name, node->human_nodename,
diff --git a/src/cluster_legacy.h b/src/cluster_legacy.h
index 5280644e6e..2c3e1d83c8 100644
--- a/src/cluster_legacy.h
+++ b/src/cluster_legacy.h
@@ -338,7 +338,8 @@ struct _clusterNode {
     mstime_t pong_received;                 /* Unix time we received the pong */
     mstime_t data_received;                 /* Unix time we received any data */
     mstime_t fail_time;                     /* Unix time when FAIL flag was set */
-    mstime_t voted_time;                    /* Last time we voted for a replica of this primary */
+    mstime_t voted_time;                    /* Last time we voted for a replica of this primary in non manual
+                                             * failover scenarios. */
     mstime_t repl_offset_time;              /* Unix time we received offset for this node */
     mstime_t orphaned_time;                 /* Starting time of orphaned primary condition */
     long long repl_offset;                  /* Last known repl offset for this node. */
diff --git a/tests/support/cluster_util.tcl b/tests/support/cluster_util.tcl
index 4b399214b9..686f00071b 100644
--- a/tests/support/cluster_util.tcl
+++ b/tests/support/cluster_util.tcl
@@ -145,6 +145,7 @@ proc wait_for_cluster_size {cluster_size} {
 # Check that cluster nodes agree about "state", or raise an error.
 proc wait_for_cluster_state {state} {
     for {set j 0} {$j < [llength $::servers]} {incr j} {
+        if {[process_is_paused [srv -$j pid]]} continue
         wait_for_condition 1000 50 {
             [CI $j cluster_state] eq $state
         } else {
diff --git a/tests/unit/cluster/manual-failover.tcl b/tests/unit/cluster/manual-failover.tcl
index 2a9dff934b..78842068fa 100644
--- a/tests/unit/cluster/manual-failover.tcl
+++ b/tests/unit/cluster/manual-failover.tcl
@@ -183,3 +183,91 @@ test "Wait for instance #0 to return back alive" {
 }
 
 } ;# start_cluster
+
+start_cluster 3 1 {tags {external:skip cluster} overrides {cluster-ping-interval 1000 cluster-node-timeout 2000}} {
+    test "Manual failover vote is not limited by two times the node timeout - drop the auth ack" {
+        set CLUSTER_PACKET_TYPE_FAILOVER_AUTH_ACK 6
+        set CLUSTER_PACKET_TYPE_NONE -1
+
+        # Setting a large timeout to make sure we hit the voted_time limit.
+        R 0 config set cluster-node-timeout 150000
+        R 1 config set cluster-node-timeout 150000
+        R 2 config set cluster-node-timeout 150000
+
+        # Let replica drop FAILOVER_AUTH_ACK so that the election won't
+        # get the enough votes and the election will time out.
+        R 3 debug drop-cluster-packet-filter $CLUSTER_PACKET_TYPE_FAILOVER_AUTH_ACK
+
+        # The first manual failover will time out.
+        R 3 cluster failover
+        wait_for_log_messages 0 {"*Manual failover timed out*"} 0 1000 50
+        wait_for_log_messages -3 {"*Manual failover timed out*"} 0 1000 50
+
+        # Undo packet drop, so that replica can win the next election.
+        R 3 debug drop-cluster-packet-filter $CLUSTER_PACKET_TYPE_NONE
+
+        # Make sure the second manual failover will work.
+        R 3 cluster failover
+        wait_for_condition 1000 50 {
+            [s 0 role] eq {slave} &&
+            [s -3 role] eq {master}
+        } else {
+            fail "The second failover does not happen"
+        }
+        wait_for_cluster_propagation
+    }
+} ;# start_cluster
+
+start_cluster 3 1 {tags {external:skip cluster} overrides {cluster-ping-interval 1000 cluster-node-timeout 2000}} {
+    test "Manual failover vote is not limited by two times the node timeout - mixed failover" {
+        # Make sure the failover is triggered by us.
+        R 1 config set cluster-replica-validity-factor 0
+        R 3 config set cluster-replica-no-failover yes
+        R 3 config set cluster-replica-validity-factor 0
+
+        # Pause the primary.
+        pause_process [srv 0 pid]
+        wait_for_cluster_state fail
+
+        # Setting a large timeout to make sure we hit the voted_time limit.
+        R 1 config set cluster-node-timeout 150000
+        R 2 config set cluster-node-timeout 150000
+
+        # R 3 performs an automatic failover and it will work.
+        R 3 config set cluster-replica-no-failover no
+        wait_for_condition 1000 50 {
+            [s -3 role] eq {master}
+        } else {
+            fail "The first failover does not happen"
+        }
+
+        # Resume the primary and wait for it to become a replica.
+        resume_process [srv 0 pid]
+        wait_for_condition 1000 50 {
+            [s 0 role] eq {slave}
+        } else {
+            fail "Old primary not converted into replica"
+        }
+        wait_for_cluster_propagation
+
+        # The old primary doing a manual failover and wait for it.
+        R 0 cluster failover
+        wait_for_condition 1000 50 {
+            [s 0 role] eq {master} &&
+            [s -3 role] eq {slave}
+        } else {
+            fail "The second failover does not happen"
+        }
+        wait_for_cluster_propagation
+
+        # R 3 performs a manual failover and it will work.
+        R 3 cluster failover
+        wait_for_condition 1000 50 {
+            [s 0 role] eq {slave} &&
+            [s -3 role] eq {master}
+        } else {
+            fail "The third falover does not happen"
+        }
+        wait_for_cluster_propagation
+    }
+} ;# start_cluster