diff --git a/driver/chain_syncer/beaconsync/syncer.go b/driver/chain_syncer/beaconsync/syncer.go
index f955e54f6..c9f85893a 100644
--- a/driver/chain_syncer/beaconsync/syncer.go
+++ b/driver/chain_syncer/beaconsync/syncer.go
@@ -52,19 +52,6 @@ func (s *Syncer) TriggerBeaconSync() error {
 			)
 		}
 
-		// Keep the heartbeat with L2 execution engine.
-		fcRes, err := s.rpc.L2Engine.ForkchoiceUpdate(s.ctx, &engine.ForkchoiceStateV1{
-			HeadBlockHash:      s.progressTracker.LastSyncedVerifiedBlockHash(),
-			SafeBlockHash:      s.progressTracker.LastSyncedVerifiedBlockHash(),
-			FinalizedBlockHash: s.progressTracker.LastSyncedVerifiedBlockHash(),
-		}, nil)
-		if err != nil {
-			return err
-		}
-		if fcRes.PayloadStatus.Status != engine.SYNCING {
-			return fmt.Errorf("unexpected ForkchoiceUpdate response status: %s", fcRes.PayloadStatus.Status)
-		}
-
 		return nil
 	}
 
@@ -109,19 +96,6 @@ func (s *Syncer) TriggerBeaconSync() error {
 	return nil
 }
 
-func (s *Syncer) Synced() (bool, error) {
-	if !s.progressTracker.Triggered() {
-		return false, nil
-	}
-	heightToSync := s.progressTracker.LastSyncedVerifiedBlockHeight()
-	l2Head, err := s.rpc.L2.BlockNumber(s.ctx)
-	if err != nil {
-		return false, err
-	}
-	log.Debug("Check if the L2 execution engine is synced", "heightToSync", heightToSync, "l2Head", l2Head)
-	return new(big.Int).SetUint64(l2Head).Cmp(heightToSync) >= 0, nil
-}
-
 // getVerifiedBlockPayload fetches the latest verified block's header, and converts it to an Engine API executable data,
 // which will be used to let the node to start beacon syncing.
 func (s *Syncer) getVerifiedBlockPayload(ctx context.Context) (*big.Int, *engine.ExecutableData, error) {
diff --git a/driver/chain_syncer/chain_syncer.go b/driver/chain_syncer/chain_syncer.go
index 14cf8a8e3..92764acab 100644
--- a/driver/chain_syncer/chain_syncer.go
+++ b/driver/chain_syncer/chain_syncer.go
@@ -67,12 +67,7 @@ func (s *L2ChainSyncer) Sync(l1End *types.Header) error {
 	// If current L2 execution engine's chain is behind of the protocol's latest verified block head, and the
 	// `P2PSyncVerifiedBlocks` flag is set, try triggering a beacon sync in L2 execution engine to catch up the
 	// latest verified block head.
-	needBeaconSyncTriggered, err := s.needNewBeaconSyncTriggered()
-	if err != nil {
-		return err
-	}
-
-	if needBeaconSyncTriggered {
+	if s.needNewBeaconSyncTriggered() {
 		if err := s.beaconSyncer.TriggerBeaconSync(); err != nil {
 			return fmt.Errorf("trigger beacon sync error: %w", err)
 		}
@@ -124,17 +119,40 @@ func (s *L2ChainSyncer) Sync(l1End *types.Header) error {
 	return s.calldataSyncer.ProcessL1Blocks(s.ctx, l1End)
 }
 
+// AheadOfProtocolVerifiedHead checks whether the L2 chain is ahead of verified head in protocol.
+func (s *L2ChainSyncer) AheadOfProtocolVerifiedHead() bool {
+	verifiedHeightToCompare := s.state.GetLatestVerifiedBlock().Height.Uint64()
+	log.Debug(
+		"Checking whether the execution engine is ahead of protocol's verified head",
+		"latestVerifiedBlock", verifiedHeightToCompare,
+		"executionEngineHead", s.state.GetL2Head().Number,
+	)
+	if verifiedHeightToCompare > 0 {
+		// If latest verified head height is equal to L2 execution engine's synced head height minus one,
+		// we also mark the triggered P2P sync progress as finished to prevent a potential `InsertBlockWithoutSetHead` in
+		// execution engine, which may cause errors since we do not pass all transactions in ExecutePayload when calling
+		// NewPayloadV1.
+		verifiedHeightToCompare -= 1
+	}
+
+	if s.state.GetL2Head().Number.Uint64() < verifiedHeightToCompare {
+		return false
+	}
+
+	if s.progressTracker.LastSyncedVerifiedBlockHeight() != nil {
+		return s.state.GetL2Head().Number.Uint64() >= s.progressTracker.LastSyncedVerifiedBlockHeight().Uint64()
+	}
+
+	return true
+}
+
 // needNewBeaconSyncTriggered checks whether the current L2 execution engine needs to trigger
 // another new beacon sync.
-func (s *L2ChainSyncer) needNewBeaconSyncTriggered() (bool, error) {
-	synced, err := s.BeaconSyncer().Synced()
-	if err != nil {
-		return false, err
-	}
+func (s *L2ChainSyncer) needNewBeaconSyncTriggered() bool {
 	return s.p2pSyncVerifiedBlocks &&
 		s.state.GetLatestVerifiedBlock().Height.Uint64() > 0 &&
-		!synced &&
-		!s.progressTracker.OutOfSync(), nil
+		!s.AheadOfProtocolVerifiedHead() &&
+		!s.progressTracker.OutOfSync()
 }
 
 // BeaconSyncer returns the inner beacon syncer.
diff --git a/driver/chain_syncer/chain_syncer_test.go b/driver/chain_syncer/chain_syncer_test.go
index f439f12bb..e58f5c4f6 100644
--- a/driver/chain_syncer/chain_syncer_test.go
+++ b/driver/chain_syncer/chain_syncer_test.go
@@ -49,3 +49,7 @@ func (s *ChainSyncerTestSuite) TestSync() {
 func TestChainSyncerTestSuite(t *testing.T) {
 	suite.Run(t, new(ChainSyncerTestSuite))
 }
+
+func (s *ChainSyncerTestSuite) TestAheadOfProtocolVerifiedHead() {
+	s.True(s.s.AheadOfProtocolVerifiedHead())
+}