diff --git a/pulsar-broker/src/test/java/org/apache/pulsar/client/impl/ReaderTest.java b/pulsar-broker/src/test/java/org/apache/pulsar/client/impl/ReaderTest.java
index 12228220b18bd..a6a3f83ebc37d 100644
--- a/pulsar-broker/src/test/java/org/apache/pulsar/client/impl/ReaderTest.java
+++ b/pulsar-broker/src/test/java/org/apache/pulsar/client/impl/ReaderTest.java
@@ -906,6 +906,46 @@ public void testHasMessageAvailableAfterSeekTimestamp(boolean initializeLastMess
         }
     }
 
+    @Test
+    public void testHasMessageAvailableAfterSeekTimestampWithMessageIdInclusive() throws Exception {
+        final String topic = "persistent://my-property/my-ns/" +
+                "testHasMessageAvailableAfterSeekTimestampWithMessageInclusive";
+
+        @Cleanup
+        Producer<String> producer = pulsarClient.newProducer(Schema.STRING).topic(topic).create();
+        final long timestampBeforeSend = System.currentTimeMillis();
+        final MessageId sentMsgId = producer.send("msg");
+
+        final List<MessageId> messageIds = new ArrayList<>();
+        messageIds.add(MessageId.earliest);
+        messageIds.add(sentMsgId);
+        messageIds.add(MessageId.latest);
+
+        for (MessageId messageId : messageIds) {
+            @Cleanup
+            Reader<String> reader = pulsarClient.newReader(Schema.STRING).topic(topic).receiverQueueSize(1)
+                    .startMessageIdInclusive()
+                    .startMessageId(messageId).create();
+            assertTrue(reader.hasMessageAvailable());
+
+            reader.seek(System.currentTimeMillis());
+            assertFalse(reader.hasMessageAvailable());
+            Message<String> message = reader.readNext(10, TimeUnit.SECONDS);
+            assertNull(message);
+        }
+
+        for (MessageId messageId : messageIds) {
+            @Cleanup
+            Reader<String> reader = pulsarClient.newReader(Schema.STRING).topic(topic).receiverQueueSize(1)
+                    .startMessageIdInclusive()
+                    .startMessageId(messageId).create();
+            assertTrue(reader.hasMessageAvailable());
+
+            reader.seek(timestampBeforeSend);
+            assertTrue(reader.hasMessageAvailable());
+        }
+    }
+
     @Test
     public void testReaderBuilderStateOnRetryFailure() throws Exception {
         String ns = "my-property/my-ns";
diff --git a/pulsar-client/src/main/java/org/apache/pulsar/client/impl/ConsumerImpl.java b/pulsar-client/src/main/java/org/apache/pulsar/client/impl/ConsumerImpl.java
index b7010a1ddc7b4..be01bd00eb300 100644
--- a/pulsar-client/src/main/java/org/apache/pulsar/client/impl/ConsumerImpl.java
+++ b/pulsar-client/src/main/java/org/apache/pulsar/client/impl/ConsumerImpl.java
@@ -2515,6 +2515,8 @@ public CompletableFuture<Boolean> hasMessageAvailableAsync() {
                                 .result();
                         if (lastMessageId.getEntryId() < 0) {
                             completehasMessageAvailableWithValue(booleanFuture, false);
+                        } else if (hasSoughtByTimestamp) {
+                            completehasMessageAvailableWithValue(booleanFuture, result < 0);
                         } else {
                             completehasMessageAvailableWithValue(booleanFuture,
                                     resetIncludeHead ? result <= 0 : result < 0);