diff --git a/extensions-contrib/kubernetes-overlord-extensions/src/main/java/org/apache/druid/k8s/overlord/KubernetesTaskRunner.java b/extensions-contrib/kubernetes-overlord-extensions/src/main/java/org/apache/druid/k8s/overlord/KubernetesTaskRunner.java
index 1a8aef11e6c2..1088e10bf2b9 100644
--- a/extensions-contrib/kubernetes-overlord-extensions/src/main/java/org/apache/druid/k8s/overlord/KubernetesTaskRunner.java
+++ b/extensions-contrib/kubernetes-overlord-extensions/src/main/java/org/apache/druid/k8s/overlord/KubernetesTaskRunner.java
@@ -49,6 +49,7 @@
 import org.apache.druid.java.util.http.client.HttpClient;
 import org.apache.druid.java.util.http.client.Request;
 import org.apache.druid.java.util.http.client.response.InputStreamResponseHandler;
+import org.apache.druid.k8s.overlord.common.K8sTaskId;
 import org.apache.druid.k8s.overlord.common.KubernetesPeonClient;
 import org.apache.druid.k8s.overlord.taskadapter.TaskAdapter;
 import org.apache.druid.tasklogs.TaskLogStreamer;
@@ -322,7 +323,8 @@ public List<Pair<Task, ListenableFuture<TaskStatus>>> restore()
         String taskId = adapter.getTaskId(job);
         Task task = tasksFromStorage.get(taskId);
         if (task == null) {
-          log.warn("Found K8s job running task id %s that was not in taskStorage during restore, ignoring it.", taskId);
+          log.warn("Found K8s job running task id %s that was not in taskStorage during restore, deleting it.", taskId);
+          client.deletePeonJob(new K8sTaskId(taskId));
           continue;
         }
         restoredTasks.add(Pair.of(tasksFromStorage.get(taskId), joinAsync(task)));
diff --git a/extensions-contrib/kubernetes-overlord-extensions/src/test/java/org/apache/druid/k8s/overlord/KubernetesTaskRunnerTest.java b/extensions-contrib/kubernetes-overlord-extensions/src/test/java/org/apache/druid/k8s/overlord/KubernetesTaskRunnerTest.java
index a7c8bbc8a33e..c6fcce853493 100644
--- a/extensions-contrib/kubernetes-overlord-extensions/src/test/java/org/apache/druid/k8s/overlord/KubernetesTaskRunnerTest.java
+++ b/extensions-contrib/kubernetes-overlord-extensions/src/test/java/org/apache/druid/k8s/overlord/KubernetesTaskRunnerTest.java
@@ -39,6 +39,7 @@
 import org.apache.druid.java.util.http.client.HttpClient;
 import org.apache.druid.java.util.http.client.Request;
 import org.apache.druid.java.util.http.client.response.InputStreamResponseHandler;
+import org.apache.druid.k8s.overlord.common.K8sTaskId;
 import org.apache.druid.k8s.overlord.common.KubernetesPeonClient;
 import org.apache.druid.k8s.overlord.taskadapter.TaskAdapter;
 import org.easymock.EasyMock;
@@ -366,6 +367,46 @@ protected ListenableFuture<TaskStatus> joinAsync(Task task)
     Assert.assertEquals(0, tasks.size());
   }
 
+  @Test
+  public void test_restore_missingFromTaskStorage_cleanupJob() throws IOException
+  {
+    KubernetesTaskRunner runner = new KubernetesTaskRunner(
+        taskAdapter,
+        config,
+        peonClient,
+        httpClient,
+        new TestPeonLifecycleFactory(kubernetesPeonLifecycle),
+        emitter,
+        taskStorage
+    ) {
+      @Override
+      protected ListenableFuture<TaskStatus> joinAsync(Task task)
+      {
+        return new KubernetesWorkItem(task, null).getResult();
+      }
+    };
+
+    Job job = new JobBuilder()
+        .withNewMetadata()
+        .withName(ID)
+        .endMetadata()
+        .build();
+
+    EasyMock.expect(peonClient.getPeonJobs()).andReturn(ImmutableList.of(job));
+    EasyMock.expect(taskAdapter.getTaskId(job)).andReturn(ID);
+    EasyMock.expect(peonClient.deletePeonJob(new K8sTaskId(ID))).andReturn(true);
+    EasyMock.expect(taskStorage.getActiveTasks()).andReturn(ImmutableList.of());
+
+    replayAll();
+
+    List<Pair<Task, ListenableFuture<TaskStatus>>> tasks = runner.restore();
+
+    verifyAll();
+
+    Assert.assertNotNull(tasks);
+    Assert.assertEquals(0, tasks.size());
+  }
+
   @Test
   public void test_getTotalTaskSlotCount()
   {