diff --git a/lib/nghttp2_session.c b/lib/nghttp2_session.c
index d77ffa30..b1445952 100644
--- a/lib/nghttp2_session.c
+++ b/lib/nghttp2_session.c
@@ -2996,10 +2996,18 @@ int nghttp2_session_on_request_headers_received(nghttp2_session *session,
   if (!session_is_new_peer_stream_id(session, frame->hd.stream_id)) {
     /* The spec says if an endpoint receives a HEADERS with invalid
        stream ID, it MUST issue connection error with error code
-       PROTOCOL_ERROR */
-    return session_inflate_handle_invalid_connection(
-        session, frame, NGHTTP2_PROTOCOL_ERROR,
-        "request HEADERS: invalid stream_id");
+       PROTOCOL_ERROR.  But we could get trailer HEADERS after we have
+       sent RST_STREAM to this stream and peer have not received it.
+       Then connection error is too harsh.  It means that we only use
+       connection error if stream ID refers idle stream.  OTherwise we
+       just ignore HEADERS for now. */
+    if (session_detect_idle_stream(session, frame->hd.stream_id)) {
+      return session_inflate_handle_invalid_connection(
+          session, frame, NGHTTP2_PROTOCOL_ERROR,
+          "request HEADERS: invalid stream_id");
+    }
+
+    return NGHTTP2_ERR_IGN_HEADER_BLOCK;
   }
   session->last_recv_stream_id = frame->hd.stream_id;
 
diff --git a/tests/nghttp2_session_test.c b/tests/nghttp2_session_test.c
index 7a1a109a..444f2e70 100644
--- a/tests/nghttp2_session_test.c
+++ b/tests/nghttp2_session_test.c
@@ -1723,11 +1723,24 @@ void test_nghttp2_session_on_request_headers_received(void) {
       NGHTTP2_INITIAL_MAX_CONCURRENT_STREAMS;
 
   /* Stream ID less than or equal to the previouly received request
-     HEADERS leads to connection error */
+     HEADERS is just ignored due to race condition */
   nghttp2_frame_headers_init(&frame.headers,
                              NGHTTP2_FLAG_END_HEADERS | NGHTTP2_FLAG_PRIORITY,
                              3, NGHTTP2_HCAT_HEADERS, NULL, NULL, 0);
   user_data.invalid_frame_recv_cb_called = 0;
+  CU_ASSERT(NGHTTP2_ERR_IGN_HEADER_BLOCK ==
+            nghttp2_session_on_request_headers_received(session, &frame));
+  CU_ASSERT(0 == user_data.invalid_frame_recv_cb_called);
+  CU_ASSERT(0 == (session->goaway_flags & NGHTTP2_GOAWAY_FAIL_ON_SEND));
+
+  nghttp2_frame_headers_free(&frame.headers);
+
+  /* Stream ID is our side and it is idle stream ID, then treat it as
+     connection error */
+  nghttp2_frame_headers_init(&frame.headers,
+                             NGHTTP2_FLAG_END_HEADERS | NGHTTP2_FLAG_PRIORITY,
+                             2, NGHTTP2_HCAT_HEADERS, NULL, NULL, 0);
+  user_data.invalid_frame_recv_cb_called = 0;
   CU_ASSERT(NGHTTP2_ERR_IGN_HEADER_BLOCK ==
             nghttp2_session_on_request_headers_received(session, &frame));
   CU_ASSERT(1 == user_data.invalid_frame_recv_cb_called);