diff --git a/pkg/features/kube_features.go b/pkg/features/kube_features.go
index 0e5741b3f88..533a606ddf3 100644
--- a/pkg/features/kube_features.go
+++ b/pkg/features/kube_features.go
@@ -1128,6 +1128,7 @@ var defaultVersionedKubernetesFeatureGates = map[featuregate.Feature]featuregate
 
 	ContainerRestartRules: {
 		{Version: version.MustParse("1.34"), Default: false, PreRelease: featuregate.Alpha},
+		{Version: version.MustParse("1.35"), Default: true, PreRelease: featuregate.Beta},
 	},
 
 	ContainerStopSignals: {
diff --git a/pkg/kubelet/prober/common_test.go b/pkg/kubelet/prober/common_test.go
index 5c9f9e0112f..760053ef2c4 100644
--- a/pkg/kubelet/prober/common_test.go
+++ b/pkg/kubelet/prober/common_test.go
@@ -63,6 +63,36 @@ func getTestRunningStatusWithStarted(started bool) v1.PodStatus {
 	return podStatus
 }
 
+func getTestRunningStatusWithFailedContainer() v1.PodStatus {
+	return v1.PodStatus{
+		Phase: v1.PodRunning,
+		ContainerStatuses: []v1.ContainerStatus{{
+			Name:        testContainerName,
+			ContainerID: testContainerID.String(),
+			State: v1.ContainerState{
+				Terminated: &v1.ContainerStateTerminated{
+					ExitCode: 1,
+				},
+			},
+		}},
+	}
+}
+
+func getTestRunningStatusWithSucceededContainer() v1.PodStatus {
+	return v1.PodStatus{
+		Phase: v1.PodRunning,
+		ContainerStatuses: []v1.ContainerStatus{{
+			Name:        testContainerName,
+			ContainerID: testContainerID.String(),
+			State: v1.ContainerState{
+				Terminated: &v1.ContainerStateTerminated{
+					ExitCode: 0,
+				},
+			},
+		}},
+	}
+}
+
 func getTestPod() *v1.Pod {
 	container := v1.Container{
 		Name: testContainerName,
diff --git a/pkg/kubelet/prober/worker.go b/pkg/kubelet/prober/worker.go
index b44e764a30c..f33340a9af9 100644
--- a/pkg/kubelet/prober/worker.go
+++ b/pkg/kubelet/prober/worker.go
@@ -270,7 +270,10 @@ func (w *worker) doProbe(ctx context.Context) (keepGoing bool) {
 
 		// Abort if the container will not be restarted.
 		if utilfeature.DefaultFeatureGate.Enabled(features.ContainerRestartRules) {
-			return c.State.Terminated != nil || podutil.IsContainerRestartable(w.pod.Spec, w.container)
+			if c.State.Terminated == nil {
+				return true
+			}
+			return podutil.ContainerShouldRestart(w.container, w.pod.Spec, c.State.Terminated.ExitCode)
 		}
 		return c.State.Terminated == nil ||
 			w.pod.Spec.RestartPolicy != v1.RestartPolicyNever ||
diff --git a/pkg/kubelet/prober/worker_test.go b/pkg/kubelet/prober/worker_test.go
index 04741a42c96..fb728d47086 100644
--- a/pkg/kubelet/prober/worker_test.go
+++ b/pkg/kubelet/prober/worker_test.go
@@ -24,7 +24,10 @@ import (
 	v1 "k8s.io/api/core/v1"
 	metav1 "k8s.io/apimachinery/pkg/apis/meta/v1"
 	"k8s.io/apimachinery/pkg/util/wait"
+	utilfeature "k8s.io/apiserver/pkg/util/feature"
 	"k8s.io/client-go/kubernetes/fake"
+	featuregatetesting "k8s.io/component-base/featuregate/testing"
+	"k8s.io/kubernetes/pkg/features"
 	kubepod "k8s.io/kubernetes/pkg/kubelet/pod"
 	"k8s.io/kubernetes/pkg/kubelet/prober/results"
 	"k8s.io/kubernetes/pkg/kubelet/status"
@@ -176,6 +179,123 @@ func TestDoProbe(t *testing.T) {
 	}
 }
 
+func TestDoProbeWithContainerRestartRules(t *testing.T) {
+	featuregatetesting.SetFeatureGateDuringTest(t, utilfeature.DefaultFeatureGate, features.ContainerRestartRules, true)
+	TestDoProbe(t)
+
+	var (
+		restartPolicyAlways    = v1.ContainerRestartPolicyAlways
+		restartPolicyNever     = v1.ContainerRestartPolicyNever
+		restartPolicyOnFailure = v1.ContainerRestartPolicyOnFailure
+	)
+
+	logger, ctx := ktesting.NewTestContext(t)
+	m := newTestManager()
+	for _, probeType := range [...]probeType{liveness, readiness, startup} {
+		testcases := []struct {
+			name           string
+			container      v1.Container
+			podStatus      v1.PodStatus
+			expectContinue bool
+		}{
+			{
+				name: "container failed with container restartPolicy=OnFailure",
+				container: v1.Container{
+					RestartPolicy: &restartPolicyOnFailure,
+				},
+				podStatus:      getTestRunningStatusWithFailedContainer(),
+				expectContinue: true,
+			},
+			{
+				name: "container succeeded with containerRestartPolicy=OnFailure",
+				container: v1.Container{
+					RestartPolicy: &restartPolicyOnFailure,
+				},
+				podStatus:      getTestRunningStatusWithSucceededContainer(),
+				expectContinue: false,
+			},
+			{
+				name: "container failed with containerRestartPolicy=Always",
+				container: v1.Container{
+					RestartPolicy: &restartPolicyAlways,
+				},
+				podStatus:      getTestRunningStatusWithFailedContainer(),
+				expectContinue: true,
+			},
+			{
+				name: "container succeeded with containerRestartPolicy=Always",
+				container: v1.Container{
+					RestartPolicy: &restartPolicyAlways,
+				},
+				podStatus:      getTestRunningStatusWithSucceededContainer(),
+				expectContinue: true,
+			},
+			{
+				name: "container failed with containerRestartPolicy=Never",
+				container: v1.Container{
+					RestartPolicy: &restartPolicyNever,
+				},
+				podStatus:      getTestRunningStatusWithFailedContainer(),
+				expectContinue: false,
+			},
+			{
+				name: "container succeeded with containerRestartPolicy=Never",
+				container: v1.Container{
+					RestartPolicy: &restartPolicyNever,
+				},
+				podStatus:      getTestRunningStatusWithSucceededContainer(),
+				expectContinue: false,
+			},
+			{
+				name: "container terminated with matching restartPolicyRules",
+				container: v1.Container{
+					RestartPolicy: &restartPolicyNever,
+					RestartPolicyRules: []v1.ContainerRestartRule{{
+						Action: v1.ContainerRestartRuleActionRestart,
+						ExitCodes: &v1.ContainerRestartRuleOnExitCodes{
+							Operator: v1.ContainerRestartRuleOnExitCodesOpIn,
+							Values:   []int32{1},
+						},
+					}},
+				},
+				podStatus:      getTestRunningStatusWithFailedContainer(),
+				expectContinue: true,
+			},
+			{
+				name: "container terminated with non-matching restartPolicyRules",
+				container: v1.Container{
+					RestartPolicy: &restartPolicyNever,
+					RestartPolicyRules: []v1.ContainerRestartRule{{
+						Action: v1.ContainerRestartRuleActionRestart,
+						ExitCodes: &v1.ContainerRestartRuleOnExitCodes{
+							Operator: v1.ContainerRestartRuleOnExitCodesOpIn,
+							Values:   []int32{99},
+						},
+					}},
+				},
+				podStatus:      getTestRunningStatusWithFailedContainer(),
+				expectContinue: false,
+			},
+		}
+
+		for _, tc := range testcases {
+			pod := getTestPod()
+			setTestProbe(pod, probeType, v1.Probe{})
+			c := pod.Spec.Containers[0]
+			c.RestartPolicy = tc.container.RestartPolicy
+			c.RestartPolicyRules = tc.container.RestartPolicyRules
+			pod.Spec.Containers[0] = c
+			w := newWorker(m, probeType, pod, pod.Spec.Containers[0])
+
+			m.statusManager.SetPodStatus(logger, w.pod, tc.podStatus)
+
+			if c := w.doProbe(ctx); c != tc.expectContinue {
+				t.Errorf("[%s-%s] Expected continue to be %v but got %v", probeType, tc.name, tc.expectContinue, c)
+			}
+		}
+	}
+}
+
 func TestInitialDelay(t *testing.T) {
 	logger, ctx := ktesting.NewTestContext(t)
 	m := newTestManager()
diff --git a/test/compatibility_lifecycle/reference/versioned_feature_list.yaml b/test/compatibility_lifecycle/reference/versioned_feature_list.yaml
index b5e765af876..98e7f5974b7 100644
--- a/test/compatibility_lifecycle/reference/versioned_feature_list.yaml
+++ b/test/compatibility_lifecycle/reference/versioned_feature_list.yaml
@@ -263,6 +263,10 @@
     lockToDefault: false
     preRelease: Alpha
     version: "1.34"
+  - default: true
+    lockToDefault: false
+    preRelease: Beta
+    version: "1.35"
 - name: ContainerStopSignals
   versionedSpecs:
   - default: false