diff --git a/pkg/controller/endpoint/endpoints_controller.go b/pkg/controller/endpoint/endpoints_controller.go
index d68b01fce2b..610ec5b34fa 100644
--- a/pkg/controller/endpoint/endpoints_controller.go
+++ b/pkg/controller/endpoint/endpoints_controller.go
@@ -215,19 +215,13 @@ func podToEndpointAddressForService(svc *v1.Service, pod *v1.Pod) (*v1.EndpointA
 	var endpointIP string
 
 	if !utilfeature.DefaultFeatureGate.Enabled(features.IPv6DualStack) {
+		// In a legacy cluster, the pod IP is guaranteed to be usable
 		endpointIP = pod.Status.PodIP
 	} else {
-		// api-server service controller ensured that the service got the correct IP Family
-		// according to user setup, here we only need to match EndPoint IPs' family to service
-		// actual IP family. as in, we don't need to check service.IPFamily
-
-		ipv6ClusterIP := utilnet.IsIPv6String(svc.Spec.ClusterIP)
+		ipv6Service := endpointutil.IsIPv6Service(svc)
 		for _, podIP := range pod.Status.PodIPs {
 			ipv6PodIP := utilnet.IsIPv6String(podIP.IP)
-			// same family?
-			// TODO (khenidak) when we remove the max of 2 PodIP limit from pods
-			// we will have to return multiple endpoint addresses
-			if ipv6ClusterIP == ipv6PodIP {
+			if ipv6Service == ipv6PodIP {
 				endpointIP = podIP.IP
 				break
 			}
diff --git a/pkg/controller/endpoint/endpoints_controller_test.go b/pkg/controller/endpoint/endpoints_controller_test.go
index c82a1d0ec0b..e5f6d9d2323 100644
--- a/pkg/controller/endpoint/endpoints_controller_test.go
+++ b/pkg/controller/endpoint/endpoints_controller_test.go
@@ -1249,21 +1249,21 @@ func TestPodToEndpointAddressForService(t *testing.T) {
 
 			expectedEndpointFamily: ipv6,
 		},
-		// {
-		// 	name: "v6 headless service, in a dual stack cluster",
-		//
-		// 	enableDualStack: true,
-		// 	ipFamilies:      ipv4ipv6,
-		//
-		// 	service: v1.Service{
-		// 		Spec: v1.ServiceSpec{
-		// 			ClusterIP: v1.ClusterIPNone,
-		// 			IPFamily:  &ipv6,
-		// 		},
-		// 	},
-		//
-		// 	expectedEndpointFamily: ipv6,
-		// },
+		{
+			name: "v6 headless service, in a dual stack cluster",
+
+			enableDualStack: true,
+			ipFamilies:      ipv4ipv6,
+
+			service: v1.Service{
+				Spec: v1.ServiceSpec{
+					ClusterIP: v1.ClusterIPNone,
+					IPFamily:  &ipv6,
+				},
+			},
+
+			expectedEndpointFamily: ipv6,
+		},
 		{
 			name: "v6 legacy headless service, in a dual stack cluster",
 
diff --git a/pkg/controller/endpointslice/reconciler.go b/pkg/controller/endpointslice/reconciler.go
index ef44809aea1..1f97e3294d1 100644
--- a/pkg/controller/endpointslice/reconciler.go
+++ b/pkg/controller/endpointslice/reconciler.go
@@ -59,7 +59,7 @@ type endpointMeta struct {
 func (r *reconciler) reconcile(service *corev1.Service, pods []*corev1.Pod, existingSlices []*discovery.EndpointSlice, triggerTime time.Time) error {
 	addressType := discovery.AddressTypeIPv4
 
-	if isIPv6Service(service) {
+	if endpointutil.IsIPv6Service(service) {
 		addressType = discovery.AddressTypeIPv6
 	}
 
diff --git a/pkg/controller/endpointslice/utils.go b/pkg/controller/endpointslice/utils.go
index a3589e53907..316c26b856e 100644
--- a/pkg/controller/endpointslice/utils.go
+++ b/pkg/controller/endpointslice/utils.go
@@ -120,7 +120,7 @@ func getEndpointAddresses(podStatus corev1.PodStatus, service *corev1.Service) [
 
 	for _, podIP := range podStatus.PodIPs {
 		isIPv6PodIP := utilnet.IsIPv6String(podIP.IP)
-		if isIPv6PodIP == isIPv6Service(service) {
+		if isIPv6PodIP == endpointutil.IsIPv6Service(service) {
 			addresses = append(addresses, podIP.IP)
 		}
 	}
@@ -128,12 +128,6 @@ func getEndpointAddresses(podStatus corev1.PodStatus, service *corev1.Service) [
 	return addresses
 }
 
-// isIPv6Service returns true if the Service uses IPv6 addresses.
-func isIPv6Service(service *corev1.Service) bool {
-	// IPFamily is not guaranteed to be set, even in an IPv6 only cluster.
-	return (service.Spec.IPFamily != nil && *service.Spec.IPFamily == corev1.IPv6Protocol) || utilnet.IsIPv6String(service.Spec.ClusterIP)
-}
-
 // endpointsEqualBeyondHash returns true if endpoints have equal attributes
 // but excludes equality checks that would have already been covered with
 // endpoint hashing (see hashEndpoint func for more info).
diff --git a/pkg/controller/util/endpoint/BUILD b/pkg/controller/util/endpoint/BUILD
index 3a17c9c71f9..81f4068279b 100644
--- a/pkg/controller/util/endpoint/BUILD
+++ b/pkg/controller/util/endpoint/BUILD
@@ -10,6 +10,7 @@ go_library(
     visibility = ["//visibility:public"],
     deps = [
         "//pkg/api/v1/pod:go_default_library",
+        "//pkg/apis/core/v1/helper:go_default_library",
         "//pkg/controller:go_default_library",
         "//pkg/util/hash:go_default_library",
         "//staging/src/k8s.io/api/core/v1:go_default_library",
@@ -19,6 +20,7 @@ go_library(
         "//staging/src/k8s.io/apimachinery/pkg/util/sets:go_default_library",
         "//staging/src/k8s.io/client-go/listers/core/v1:go_default_library",
         "//staging/src/k8s.io/client-go/tools/cache:go_default_library",
+        "//vendor/k8s.io/utils/net:go_default_library",
     ],
 )
 
diff --git a/pkg/controller/util/endpoint/controller_utils.go b/pkg/controller/util/endpoint/controller_utils.go
index d1744441bec..9c2ab1eedf9 100644
--- a/pkg/controller/util/endpoint/controller_utils.go
+++ b/pkg/controller/util/endpoint/controller_utils.go
@@ -32,8 +32,10 @@ import (
 	v1listers "k8s.io/client-go/listers/core/v1"
 	"k8s.io/client-go/tools/cache"
 	podutil "k8s.io/kubernetes/pkg/api/v1/pod"
+	"k8s.io/kubernetes/pkg/apis/core/v1/helper"
 	"k8s.io/kubernetes/pkg/controller"
 	"k8s.io/kubernetes/pkg/util/hash"
+	utilnet "k8s.io/utils/net"
 )
 
 // ServiceSelectorCache is a cache of service selectors to avoid high CPU consumption caused by frequent calls to AsSelectorPreValidated (see #73527)
@@ -275,3 +277,18 @@ func (sl portsInOrder) Less(i, j int) bool {
 	h2 := DeepHashObjectToString(sl[j])
 	return h1 < h2
 }
+
+// IsIPv6Service checks if svc should have IPv6 endpoints
+func IsIPv6Service(svc *v1.Service) bool {
+	if helper.IsServiceIPSet(svc) {
+		return utilnet.IsIPv6String(svc.Spec.ClusterIP)
+	} else if svc.Spec.IPFamily != nil {
+		return *svc.Spec.IPFamily == v1.IPv6Protocol
+	} else {
+		// FIXME: for legacy headless Services with no IPFamily, the current
+		// thinking is that we should use the cluster default. Unfortunately
+		// the endpoint controller doesn't know the cluster default. For now,
+		// assume it's IPv4.
+		return false
+	}
+}