diff --git a/Cargo.lock b/Cargo.lock
index 23efd1eb251..b088d0da44f 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -3172,7 +3172,7 @@ dependencies = [
 
 [[package]]
 name = "libp2p-upnp"
-version = "0.5.0"
+version = "0.5.1"
 dependencies = [
  "futures",
  "futures-timer",
diff --git a/Cargo.toml b/Cargo.toml
index e5bfab59b58..527d20c27e4 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -108,7 +108,7 @@ libp2p-swarm-test = { version = "0.6.0", path = "swarm-test" }
 libp2p-tcp = { version = "0.44.0", path = "transports/tcp" }
 libp2p-tls = { version = "0.6.2", path = "transports/tls" }
 libp2p-uds = { version = "0.43.0", path = "transports/uds" }
-libp2p-upnp = { version = "0.5.0", path = "protocols/upnp" }
+libp2p-upnp = { version = "0.5.1", path = "protocols/upnp" }
 libp2p-webrtc = { version = "0.9.0-alpha.1", path = "transports/webrtc" }
 libp2p-webrtc-utils = { version = "0.4.0", path = "misc/webrtc-utils" }
 libp2p-webrtc-websys = { version = "0.4.0", path = "transports/webrtc-websys" }
diff --git a/protocols/upnp/CHANGELOG.md b/protocols/upnp/CHANGELOG.md
index 9a226af4dc7..24735db8433 100644
--- a/protocols/upnp/CHANGELOG.md
+++ b/protocols/upnp/CHANGELOG.md
@@ -1,3 +1,11 @@
+## 0.5.1
+
+- Skip port mapping when an active port mapping is present.
+  Previously, the behavior would skip creating new mappings if any mapping 
+  (active or inactive or pending) existed for the same port. Now it correctly only 
+  checks active mappings on the gateway.
+  See [PR 6127](https://github.com/libp2p/rust-libp2p/pull/6127).
+
 ## 0.5.0
 
 - update igd-next to 0.16.1
diff --git a/protocols/upnp/Cargo.toml b/protocols/upnp/Cargo.toml
index 31c12a52bb0..5e29e1aaa8c 100644
--- a/protocols/upnp/Cargo.toml
+++ b/protocols/upnp/Cargo.toml
@@ -3,7 +3,7 @@ name = "libp2p-upnp"
 edition.workspace = true
 rust-version.workspace = true
 description = "UPnP support for libp2p transports"
-version = "0.5.0"
+version = "0.5.1"
 license = "MIT"
 repository = "https://github.com/libp2p/rust-libp2p"
 keywords = ["peer-to-peer", "libp2p", "networking"]
diff --git a/protocols/upnp/src/behaviour.rs b/protocols/upnp/src/behaviour.rs
index 6f66c949e82..4bf80cb1c2a 100644
--- a/protocols/upnp/src/behaviour.rs
+++ b/protocols/upnp/src/behaviour.rs
@@ -270,15 +270,14 @@ impl NetworkBehaviour for Behaviour {
                     return;
                 };
 
-                if let Some((mapping, _state)) = self
-                    .mappings
-                    .iter()
-                    .find(|(mapping, _state)| mapping.internal_addr.port() == addr.port())
-                {
+                if let Some((mapping, _state)) = self.mappings.iter().find(|(mapping, state)| {
+                    matches!(state, MappingState::Active(_))
+                        && mapping.internal_addr.port() == addr.port()
+                }) {
                     tracing::debug!(
                         multiaddress=%multiaddr,
                         mapped_multiaddress=%mapping.multiaddr,
-                        "port from multiaddress is already being mapped"
+                        "port from multiaddress is already mapped on the gateway"
                     );
                     return;
                 }