diff --git a/spring-kafka/src/main/java/org/springframework/kafka/listener/KafkaMessageListenerContainer.java b/spring-kafka/src/main/java/org/springframework/kafka/listener/KafkaMessageListenerContainer.java
index 94926c3ef5..05c060ca4a 100644
--- a/spring-kafka/src/main/java/org/springframework/kafka/listener/KafkaMessageListenerContainer.java
+++ b/spring-kafka/src/main/java/org/springframework/kafka/listener/KafkaMessageListenerContainer.java
@@ -3005,13 +3005,20 @@ private void timedAcks() {
 		}
 
 		private void processSeeks() {
-			processTimestampSeeks();
+			Collection<TopicPartition> assigned = getAssignedPartitions();
+			processTimestampSeeks(assigned);
 			TopicPartitionOffset offset = this.seeks.poll();
 			while (offset != null) {
 				traceSeek(offset);
 				try {
-					SeekPosition position = offset.getPosition();
 					TopicPartition topicPartition = offset.getTopicPartition();
+					if (assigned == null || !assigned.contains(topicPartition)) {
+						this.logger.warn("No current assignment for partition " + topicPartition +
+								" due to partition reassignment prior to seeking.");
+						offset = this.seeks.poll();
+						continue;
+					}
+					SeekPosition position = offset.getPosition();
 					Long whereTo = offset.getOffset();
 					Function<Long, Long> offsetComputeFunction = offset.getOffsetComputeFunction();
 					if (position == null) {
@@ -3056,11 +3063,17 @@ else if (SeekPosition.TIMESTAMP.equals(position)) {
 			}
 		}
 
-		private void processTimestampSeeks() {
+		private void processTimestampSeeks(@Nullable Collection<TopicPartition> assigned) {
 			Iterator<TopicPartitionOffset> seekIterator = this.seeks.iterator();
 			Map<TopicPartition, Long> timestampSeeks = null;
 			while (seekIterator.hasNext()) {
 				TopicPartitionOffset tpo = seekIterator.next();
+				if (assigned == null || !assigned.contains(tpo.getTopicPartition())) {
+					this.logger.warn("No current assignment for partition " + tpo.getTopicPartition() +
+							" due to partition reassignment prior to seeking.");
+					seekIterator.remove();
+					continue;
+				}
 				if (SeekPosition.TIMESTAMP.equals(tpo.getPosition())) {
 					if (timestampSeeks == null) {
 						timestampSeeks = new HashMap<>();
diff --git a/spring-kafka/src/test/java/org/springframework/kafka/listener/AbstractConsumerSeekAwareTests.java b/spring-kafka/src/test/java/org/springframework/kafka/listener/AbstractConsumerSeekAwareTests.java
index 41887f3d44..2c09187277 100644
--- a/spring-kafka/src/test/java/org/springframework/kafka/listener/AbstractConsumerSeekAwareTests.java
+++ b/spring-kafka/src/test/java/org/springframework/kafka/listener/AbstractConsumerSeekAwareTests.java
@@ -58,7 +58,9 @@
  */
 @DirtiesContext
 @SpringJUnitConfig
-@EmbeddedKafka(topics = {AbstractConsumerSeekAwareTests.TOPIC}, partitions = 3)
+@EmbeddedKafka(topics = {AbstractConsumerSeekAwareTests.TOPIC},
+		partitions = 9,
+		brokerProperties = "group.initial.rebalance.delay.ms:4000")
 class AbstractConsumerSeekAwareTests {
 
 	static final String TOPIC = "Seek";
@@ -74,7 +76,7 @@ class AbstractConsumerSeekAwareTests {
 
 	@Test
 	public void checkCallbacksAndTopicPartitions() {
-		await().timeout(Duration.ofSeconds(5))
+		await().timeout(Duration.ofSeconds(15))
 				.untilAsserted(() -> {
 					Map<ConsumerSeekCallback, List<TopicPartition>> callbacksAndTopics =
 							multiGroupListener.getCallbacksAndTopics();
@@ -103,29 +105,29 @@ public void checkCallbacksAndTopicPartitions() {
 	void seekForAllGroups() throws Exception {
 		template.send(TOPIC, "test-data");
 		template.send(TOPIC, "test-data");
-		assertThat(MultiGroupListener.latch1.await(30, TimeUnit.SECONDS)).isTrue();
-		assertThat(MultiGroupListener.latch2.await(30, TimeUnit.SECONDS)).isTrue();
+		assertThat(MultiGroupListener.latch1.await(15, TimeUnit.SECONDS)).isTrue();
+		assertThat(MultiGroupListener.latch2.await(15, TimeUnit.SECONDS)).isTrue();
 
 		MultiGroupListener.latch1 = new CountDownLatch(2);
 		MultiGroupListener.latch2 = new CountDownLatch(2);
 
 		multiGroupListener.seekToBeginning();
-		assertThat(MultiGroupListener.latch1.await(30, TimeUnit.SECONDS)).isTrue();
-		assertThat(MultiGroupListener.latch2.await(30, TimeUnit.SECONDS)).isTrue();
+		assertThat(MultiGroupListener.latch1.await(15, TimeUnit.SECONDS)).isTrue();
+		assertThat(MultiGroupListener.latch2.await(15, TimeUnit.SECONDS)).isTrue();
 	}
 
 	@Test
 	void seekForSpecificGroup() throws Exception {
 		template.send(TOPIC, "test-data");
 		template.send(TOPIC, "test-data");
-		assertThat(MultiGroupListener.latch1.await(30, TimeUnit.SECONDS)).isTrue();
-		assertThat(MultiGroupListener.latch2.await(30, TimeUnit.SECONDS)).isTrue();
+		assertThat(MultiGroupListener.latch1.await(15, TimeUnit.SECONDS)).isTrue();
+		assertThat(MultiGroupListener.latch2.await(15, TimeUnit.SECONDS)).isTrue();
 
 		MultiGroupListener.latch1 = new CountDownLatch(2);
 		MultiGroupListener.latch2 = new CountDownLatch(2);
 
-		multiGroupListener.seekToBeginningForGroup("group2");
-		assertThat(MultiGroupListener.latch2.await(30, TimeUnit.SECONDS)).isTrue();
+		multiGroupListener.seekToBeginningFor("group2");
+		assertThat(MultiGroupListener.latch2.await(15, TimeUnit.SECONDS)).isTrue();
 		assertThat(MultiGroupListener.latch1.await(1, TimeUnit.SECONDS)).isFalse();
 		assertThat(MultiGroupListener.latch1.getCount()).isEqualTo(2);
 	}
@@ -168,19 +170,19 @@ static class MultiGroupListener extends AbstractConsumerSeekAware {
 
 			static CountDownLatch latch2 = new CountDownLatch(2);
 
-			@KafkaListener(groupId = "group1", topics = TOPIC/*TODO until we figure out non-relevant partitions on assignment, concurrency = "2"*/)
+			@KafkaListener(groupId = "group1", topics = TOPIC, concurrency = "2")
 			void listenForGroup1(String in) {
 				latch1.countDown();
 			}
 
-			@KafkaListener(groupId = "group2", topics = TOPIC/*TODO until we figure out non-relevant partitions on assignment, concurrency = "2"*/)
+			@KafkaListener(groupId = "group2", topics = TOPIC, concurrency = "7")
 			void listenForGroup2(String in) {
 				latch2.countDown();
 			}
 
-			void seekToBeginningForGroup(String groupIdForSeek) {
+			void seekToBeginningFor(String groupId) {
 				getCallbacksAndTopics().forEach((cb, topics) -> {
-					if (groupIdForSeek.equals(cb.getGroupId())) {
+					if (groupId.equals(cb.getGroupId())) {
 						topics.forEach(tp -> cb.seekToBeginning(tp.topic(), tp.partition()));
 					}
 				});