diff --git a/CHANGELOG.md b/CHANGELOG.md
index ccc9185c37..ee675270eb 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -18,6 +18,10 @@ should change the heading of the (upcoming) version to include a major version b
 
 # 5.18.0
 
+## @rjsf/core
+
+- Fix Error state not resetting when schema changes [#4079](https://github.com/rjsf-team/react-jsonschema-form/issues/4079)
+
 ## @rjsf/utils
 
 - Added a new `skipEmptyDefault` option in `emptyObjectFields`, fixing [#3880](https://github.com/rjsf-team/react-jsonschema-form/issues/3880)
diff --git a/packages/core/src/components/Form.tsx b/packages/core/src/components/Form.tsx
index e4d771c8ec..31752c41e0 100644
--- a/packages/core/src/components/Form.tsx
+++ b/packages/core/src/components/Form.tsx
@@ -306,10 +306,16 @@ export default class Form<
     prevState: FormState<T, S, F>
   ): { nextState: FormState<T, S, F>; shouldUpdate: true } | { shouldUpdate: false } {
     if (!deepEquals(this.props, prevProps)) {
+      const isSchemaChanged = !deepEquals(prevProps.schema, this.props.schema);
+      const isFormDataChanged = !deepEquals(prevProps.formData, this.props.formData);
       const nextState = this.getStateFromProps(
         this.props,
         this.props.formData,
-        prevProps.schema !== this.props.schema ? undefined : this.state.retrievedSchema
+        // If the `schema` has changed, we need to update the retrieved schema.
+        // Or if the `formData` changes, for example in the case of a schema with dependencies that need to
+        //  match one of the subSchemas, the retrieved schema must be updated.
+        isSchemaChanged || isFormDataChanged ? undefined : this.state.retrievedSchema,
+        isSchemaChanged
       );
       const shouldUpdate = !deepEquals(nextState, prevState);
       return { nextState, shouldUpdate };
@@ -357,9 +363,16 @@ export default class Form<
    *
    * @param props - The props passed to the `Form`
    * @param inputFormData - The new or current data for the `Form`
+   * @param retrievedSchema - An expanded schema, if not provided, it will be retrieved from the `schema` and `formData`.
+   * @param isSchemaChanged - A flag indicating whether the schema has changed.
    * @returns - The new state for the `Form`
    */
-  getStateFromProps(props: FormProps<T, S, F>, inputFormData?: T, retrievedSchema?: S): FormState<T, S, F> {
+  getStateFromProps(
+    props: FormProps<T, S, F>,
+    inputFormData?: T,
+    retrievedSchema?: S,
+    isSchemaChanged = false
+  ): FormState<T, S, F> {
     const state: FormState<T, S, F> = this.state || {};
     const schema = 'schema' in props ? props.schema : this.props.schema;
     const uiSchema: UiSchema<T, S, F> = ('uiSchema' in props ? props.uiSchema! : this.props.uiSchema!) || {};
@@ -382,7 +395,8 @@ export default class Form<
     const _retrievedSchema = retrievedSchema ?? schemaUtils.retrieveSchema(schema, formData);
 
     const getCurrentErrors = (): ValidationData<T> => {
-      if (props.noValidate) {
+      // If the `props.noValidate` option is set or the schema has changed, we reset the error state.
+      if (props.noValidate || isSchemaChanged) {
         return { errors: [], errorSchema: {} };
       } else if (!props.liveValidate) {
         return {
diff --git a/packages/core/test/Form.test.jsx b/packages/core/test/Form.test.jsx
index 43c4f43804..efd264a191 100644
--- a/packages/core/test/Form.test.jsx
+++ b/packages/core/test/Form.test.jsx
@@ -4013,6 +4013,47 @@ describe('Form omitExtraData and liveOmit', () => {
       // We use setTimeout with a delay of 0ms to allow all asynchronous operations to complete in the React component.
       // Despite this being a workaround, it turned out to be the only effective method to handle this test case.
     });
+
+    it('should reset when schema changes', () => {
+      const schema = {
+        type: 'object',
+        properties: {
+          foo: { type: 'string' },
+        },
+        required: ['foo'],
+      };
+
+      const { comp, node } = createFormComponent({
+        schema,
+      });
+
+      Simulate.submit(node);
+      expect(comp.state.errorSchema).eql({ foo: { __errors: ["must have required property 'foo'"] } });
+      expect(comp.state.errors).eql([
+        {
+          message: "must have required property 'foo'",
+          property: 'foo',
+          name: 'required',
+          params: {
+            missingProperty: 'foo',
+          },
+          schemaPath: '#/required',
+          stack: "must have required property 'foo'",
+        },
+      ]);
+
+      // Changing schema to reset errors state.
+      setProps(comp, {
+        schema: {
+          type: 'object',
+          properties: {
+            foo: { type: 'string' },
+          },
+        },
+      });
+      expect(comp.state.errorSchema).eql({});
+      expect(comp.state.errors).eql([]);
+    });
   });
 
   it('should keep schema errors when extraErrors set after submit and liveValidate is false', () => {