diff --git a/subprojects/gst-plugins-good/gst/rtp/gstrtpvp8pay.c b/subprojects/gst-plugins-good/gst/rtp/gstrtpvp8pay.c
index ede2deb464..8d3221911d 100644
--- a/subprojects/gst-plugins-good/gst/rtp/gstrtpvp8pay.c
+++ b/subprojects/gst-plugins-good/gst/rtp/gstrtpvp8pay.c
@@ -708,9 +708,13 @@ static gboolean
 gst_rtp_vp8_pay_sink_event (GstRTPBasePayload * payload, GstEvent * event)
 {
   GstRtpVP8Pay *self = GST_RTP_VP8_PAY (payload);
+  GstEventType event_type = GST_EVENT_TYPE (event);
 
-  if (GST_EVENT_TYPE (event) == GST_EVENT_FLUSH_START) {
-    gst_rtp_vp8_pay_reset (self);
+  if (event_type == GST_EVENT_GAP || event_type == GST_EVENT_FLUSH_START) {
+    guint picture_id = self->picture_id;
+    gst_rtp_vp8_pay_picture_id_increment (self);
+    GST_DEBUG_OBJECT (payload, "Incrementing picture ID on %s event %u->%u",
+        GST_EVENT_TYPE_NAME (event), picture_id, self->picture_id);
   }
 
   return GST_RTP_BASE_PAYLOAD_CLASS (gst_rtp_vp8_pay_parent_class)->sink_event
diff --git a/subprojects/gst-plugins-good/gst/rtp/gstrtpvp9pay.c b/subprojects/gst-plugins-good/gst/rtp/gstrtpvp9pay.c
index f981f1ee01..42b96b198e 100644
--- a/subprojects/gst-plugins-good/gst/rtp/gstrtpvp9pay.c
+++ b/subprojects/gst-plugins-good/gst/rtp/gstrtpvp9pay.c
@@ -598,14 +598,13 @@ static gboolean
 gst_rtp_vp9_pay_sink_event (GstRTPBasePayload * payload, GstEvent * event)
 {
   GstRtpVP9Pay *self = GST_RTP_VP9_PAY (payload);
+  GstEventType event_type = GST_EVENT_TYPE (event);
 
-  if (GST_EVENT_TYPE (event) == GST_EVENT_FLUSH_START) {
-    gst_rtp_vp9_pay_picture_id_reset (self);
-  } else if (GST_EVENT_TYPE (event) == GST_EVENT_GAP) {
+  if (event_type == GST_EVENT_GAP || event_type == GST_EVENT_FLUSH_START) {
     guint picture_id = self->picture_id;
     gst_rtp_vp9_pay_picture_id_increment (self);
-    GST_DEBUG_OBJECT (payload, "Incrementing picture ID on GAP event %u->%u",
-        picture_id, self->picture_id);
+    GST_DEBUG_OBJECT (payload, "Incrementing picture ID on %s event %u->%u",
+        GST_EVENT_TYPE_NAME (event), picture_id, self->picture_id);
   }
 
   return GST_RTP_BASE_PAYLOAD_CLASS (gst_rtp_vp9_pay_parent_class)->sink_event
diff --git a/subprojects/gst-plugins-good/tests/check/elements/rtpvp8.c b/subprojects/gst-plugins-good/tests/check/elements/rtpvp8.c
index d658a3a702..d07def1f34 100644
--- a/subprojects/gst-plugins-good/tests/check/elements/rtpvp8.c
+++ b/subprojects/gst-plugins-good/tests/check/elements/rtpvp8.c
@@ -516,6 +516,64 @@ GST_START_TEST (test_pay_tl0picidx_split_buffer)
 
 GST_END_TEST;
 
+GST_START_TEST (test_pay_continuous_picture_id_on_flush)
+{
+  guint8 vp8_bitstream_payload[] = {
+    0x30, 0x00, 0x00, 0x9d, 0x01, 0x2a, 0xb0, 0x00, 0x90, 0x00, 0x06, 0x47,
+    0x08, 0x85, 0x85, 0x88, 0x99, 0x84, 0x88, 0x21, 0x00
+  };
+  GstHarness *h = gst_harness_new ("rtpvp8pay");
+  const gint header_len = 3;
+  const gint packet_len = 12 + header_len + sizeof (vp8_bitstream_payload);
+  const gint picid_offset = 14;
+  GstBuffer *buffer;
+  GstMapInfo map;
+
+  g_object_set (h->element,
+      "picture-id-mode", VP8_PAY_PICTURE_ID_7BITS,
+      "picture-id-offset", 0, NULL);
+
+  gst_harness_set_src_caps_str (h, "video/x-vp8");
+
+  /* First, push a frame */
+  buffer = gst_buffer_new_from_array (vp8_bitstream_payload);
+  buffer = gst_harness_push_and_pull (h, buffer);
+  fail_unless (gst_buffer_map (buffer, &map, GST_MAP_READ));
+  fail_unless_equals_uint64 (map.size, packet_len);
+  fail_unless_equals_int (map.data[picid_offset], 0x00);
+  gst_buffer_unmap (buffer, &map);
+  gst_buffer_unref (buffer);
+
+  /* Push another one and expect the PictureID to increment */
+  buffer = gst_buffer_new_from_array (vp8_bitstream_payload);
+  buffer = gst_harness_push_and_pull (h, buffer);
+  fail_unless (gst_buffer_map (buffer, &map, GST_MAP_READ));
+  fail_unless_equals_uint64 (map.size, packet_len);
+  fail_unless_equals_int (map.data[picid_offset], 0x01);
+  gst_buffer_unmap (buffer, &map);
+  gst_buffer_unref (buffer);
+
+  /* Yet another frame followed by a FLUSH of the pipeline should result
+   * on an increase rather than a reset to maximize interop. */
+  fail_unless (gst_harness_push_event (h, gst_event_new_flush_start ()));
+  fail_unless (gst_harness_push_event (h, gst_event_new_flush_stop (FALSE)));
+  gst_harness_set_src_caps_str (h, "video/x-vp8");
+
+  buffer = gst_buffer_new_from_array (vp8_bitstream_payload);
+  buffer = gst_harness_push_and_pull (h, buffer);
+  fail_unless (gst_buffer_map (buffer, &map, GST_MAP_READ));
+  fail_unless_equals_uint64 (map.size, packet_len);
+  /* PictureID should increment by 2
+   * One due to the FLUSH_START, and another one due to the new frame */
+  fail_unless_equals_int (map.data[picid_offset], 0x03);
+  gst_buffer_unmap (buffer, &map);
+  gst_buffer_unref (buffer);
+
+  gst_harness_teardown (h);
+}
+
+GST_END_TEST;
+
 typedef struct _DepayGapEventTestData
 {
   gint seq_num;
@@ -790,6 +848,9 @@ rtpvp8_suite (void)
       G_N_ELEMENTS (with_meta_test_data));
   tcase_add_test (tc_chain, test_pay_continuous_picture_id_and_tl0picidx);
   tcase_add_test (tc_chain, test_pay_tl0picidx_split_buffer);
+  tcase_add_test (tc_chain, test_pay_continuous_picture_id_on_flush);
+
+  suite_add_tcase (s, (tc_chain = tcase_create ("vp8depay")));
   tcase_add_loop_test (tc_chain, test_depay_stop_gap_events, 0,
       G_N_ELEMENTS (stop_gap_events_test_data));
   tcase_add_loop_test (tc_chain, test_depay_resend_gap_event, 0,