diff --git a/cassandra/cluster.py b/cassandra/cluster.py
index 5e7a68bc1c..e3e01cf6b8 100644
--- a/cassandra/cluster.py
+++ b/cassandra/cluster.py
@@ -4618,6 +4618,7 @@ def _query(self, host, message=None, cb=None):
         self._current_host = host
 
         connection = None
+        request_id = None
         try:
             # TODO get connectTimeout from cluster settings
             if self.query:
@@ -4642,16 +4643,26 @@ def _query(self, host, message=None, cb=None):
         except ConnectionBusy as exc:
             log.debug("Connection for host %s is busy, moving to the next host", host)
             self._errors[host] = exc
+            if connection:
+                self._return_connection_after_send_failure(pool, connection, request_id)
         except Exception as exc:
             log.debug("Error querying host %s", host, exc_info=True)
             self._errors[host] = exc
             if self._metrics is not None:
                 self._metrics.on_connection_error()
             if connection:
-                pool.return_connection(connection)
+                self._return_connection_after_send_failure(pool, connection, request_id)
 
         return None
 
+    def _return_connection_after_send_failure(self, pool, connection, request_id):
+        if request_id is not None:
+            with connection.lock:
+                connection._requests.pop(request_id, None)
+                if request_id not in connection.request_ids:
+                    connection.request_ids.append(request_id)
+        pool.return_connection(connection)
+
     @property
     def has_more_pages(self):
         """
diff --git a/tests/unit/test_response_future.py b/tests/unit/test_response_future.py
index dd7fa75045..7ca1d39838 100644
--- a/tests/unit/test_response_future.py
+++ b/tests/unit/test_response_future.py
@@ -97,6 +97,34 @@ def test_unknown_result_class(self):
         with pytest.raises(ConnectionException):
             rf.result()
 
+    def test_query_releases_request_id_when_send_fails_after_registration(self):
+        session = self.make_session()
+        pool = session._pools.get.return_value
+        connection = Connection('1.2.3.4')
+        connection.push = Mock(side_effect=ConnectionException("write failed"))
+
+        initial_request_ids = len(connection.request_ids)
+        request_id = connection.request_ids.popleft()
+        connection.in_flight += 1
+        pool.borrow_connection.return_value = (connection, request_id)
+
+        def return_connection(conn):
+            with conn.lock:
+                conn.in_flight -= 1
+
+        pool.return_connection.side_effect = return_connection
+
+        query = SimpleStatement("SELECT * FROM foo")
+        message = QueryMessage(query=query.query_string, consistency_level=ConsistencyLevel.ONE)
+        rf = ResponseFuture(session, message, query, 1)
+
+        assert rf._query('ip1') is None
+        pool.return_connection.assert_called_once_with(connection)
+        assert connection.in_flight == 0
+        assert len(connection.request_ids) == initial_request_ids
+        assert request_id in connection.request_ids
+        assert not connection._requests
+
     def test_set_keyspace_result(self):
         session = self.make_session()
         rf = self.make_response_future(session)