diff --git a/src/dynamics/sleeping/mod.rs b/src/dynamics/sleeping/mod.rs
index 44e79a54..423f0823 100644
--- a/src/dynamics/sleeping/mod.rs
+++ b/src/dynamics/sleeping/mod.rs
@@ -265,10 +265,18 @@ fn wake_on_collision_ended(
     moved_bodies: Query<Ref<Position>, (Changed<Position>, Without<Sleeping>)>,
     colliders: Query<(&ColliderParent, Ref<ColliderTransform>)>,
     collisions: Res<Collisions>,
-    mut sleeping: Query<(Entity, &mut TimeSleeping)>,
+    mut sleeping: Query<(Entity, &mut TimeSleeping, Has<Sleeping>)>,
 ) {
     // Wake up bodies when a body they're colliding with moves.
-    for (entity, mut time_sleeping) in &mut sleeping {
+    for (entity, mut time_sleeping, is_sleeping) in &mut sleeping {
+        // Skip anything that isn't currently sleeping and already has a time_sleeping of zero.
+        // We can't gate the sleeping query using With<Sleeping> here because must also reset
+        // non-zero time_sleeping to 0 when a colliding body moves.
+        let must_check = is_sleeping || time_sleeping.0 > 0.0;
+        if !must_check {
+            continue;
+        }
+
         // Here we could use CollidingEntities, but it'd be empty if the ContactReportingPlugin was disabled.
         let mut colliding_entities = collisions.collisions_with_entity(entity).map(|c| {
             if entity == c.entity1 {
@@ -283,7 +291,9 @@ fn wake_on_collision_ended(
                     || moved_bodies.get(p.get()).is_ok_and(|pos| pos.is_changed())
             })
         }) {
-            commands.entity(entity).remove::<Sleeping>();
+            if is_sleeping {
+                commands.entity(entity).remove::<Sleeping>();
+            }
             time_sleeping.0 = 0.0;
         }
     }
@@ -293,12 +303,16 @@ fn wake_on_collision_ended(
         if contacts.during_current_frame || !contacts.during_previous_frame {
             continue;
         }
-        if let Ok((_, mut time_sleeping)) = sleeping.get_mut(contacts.entity1) {
-            commands.entity(contacts.entity1).remove::<Sleeping>();
+        if let Ok((_, mut time_sleeping, is_sleeping)) = sleeping.get_mut(contacts.entity1) {
+            if is_sleeping {
+                commands.entity(contacts.entity1).remove::<Sleeping>();
+            }
             time_sleeping.0 = 0.0;
         }
-        if let Ok((_, mut time_sleeping)) = sleeping.get_mut(contacts.entity2) {
-            commands.entity(contacts.entity2).remove::<Sleeping>();
+        if let Ok((_, mut time_sleeping, is_sleeping)) = sleeping.get_mut(contacts.entity2) {
+            if is_sleeping {
+                commands.entity(contacts.entity2).remove::<Sleeping>();
+            }
             time_sleeping.0 = 0.0;
         }
     }