diff --git a/CHANGES.md b/CHANGES.md
index 5e0e29d56022..a767204e2aca 100644
--- a/CHANGES.md
+++ b/CHANGES.md
@@ -29,6 +29,7 @@ Change Log
 * Fixed crash when using the `Cesium3DTilesInspectorViewModel` and removing a tileset [#5607](https://github.com/AnalyticalGraphicsInc/cesium/issues/5607)
 * Fixed polygon outline in Polygon Sandcastle demo [#5642](https://github.com/AnalyticalGraphicsInc/cesium/issues/5642)
 * Fixed label positioning when using `HeightReference.CLAMP_TO_GROUND` and no position [#5648](https://github.com/AnalyticalGraphicsInc/cesium/pull/5648)
+* Fixed `Viewer.flyTo` not respecting zoom limits, and resetting minimumZoomDistance if the camera zoomed past the minimumZoomDistance. [5573](https://github.com/AnalyticalGraphicsInc/cesium/issues/5573)
 * Updated `Billboard`, `Label` and `PointPrimitive` constructors to clone `NearFarScale` parameters [#5654](https://github.com/AnalyticalGraphicsInc/cesium/pull/5654)
 * Added `FrustumGeometry` and `FrustumOutlineGeometry`. [#5649](https://github.com/AnalyticalGraphicsInc/cesium/pull/5649)
 * Added an `options` parameter to the constructors of `PerspectiveFrustum`, `PerspectiveOffCenterFrustum`, `OrthographicFrustum`, and `OrthographicOffCenterFrustum` to set properties. [#5649](https://github.com/AnalyticalGraphicsInc/cesium/pull/5649)
diff --git a/Source/DataSources/EntityView.js b/Source/DataSources/EntityView.js
index 48e792d5b54d..6ae6914298db 100644
--- a/Source/DataSources/EntityView.js
+++ b/Source/DataSources/EntityView.js
@@ -317,9 +317,6 @@ define([
             var hasViewFrom = defined(viewFromProperty);
 
             if (!hasViewFrom && defined(boundingSphere)) {
-                var controller = scene.screenSpaceCameraController;
-                controller.minimumZoomDistance = Math.min(controller.minimumZoomDistance, boundingSphere.radius * 0.5);
-
                 //The default HPR is not ideal for high altitude objects so
                 //we scale the pitch as we get further from the earth for a more
                 //downward view.
diff --git a/Source/Scene/Camera.js b/Source/Scene/Camera.js
index 3f957272d903..f7155fc5c35e 100644
--- a/Source/Scene/Camera.js
+++ b/Source/Scene/Camera.js
@@ -2860,6 +2860,8 @@ define([
             offset = HeadingPitchRange.clone(Camera.DEFAULT_OFFSET);
         }
 
+        var minimumZoom = camera._scene.screenSpaceCameraController.minimumZoomDistance;
+        var maximumZoom = camera._scene.screenSpaceCameraController.maximumZoomDistance;
         var range = offset.range;
         if (!defined(range) || range === 0.0) {
             var radius = boundingSphere.radius;
@@ -2870,6 +2872,7 @@ define([
             } else {
                 offset.range = distanceToBoundingSphere3D(camera, radius);
             }
+            offset.range = CesiumMath.clamp(offset.range, minimumZoom, maximumZoom);
         }
 
         return offset;
@@ -2950,7 +2953,6 @@ define([
         //>>includeEnd('debug');
 
         options = defaultValue(options, defaultValue.EMPTY_OBJECT);
-
         var scene2D = this._mode === SceneMode.SCENE2D || this._mode === SceneMode.COLUMBUS_VIEW;
         this._setTransform(Matrix4.IDENTITY);
         var offset = adjustBoundingSphereOffset(this, boundingSphere, options.offset);
diff --git a/Source/Widgets/Viewer/Viewer.js b/Source/Widgets/Viewer/Viewer.js
index 7ca93367ca3c..ceab4b056c03 100644
--- a/Source/Widgets/Viewer/Viewer.js
+++ b/Source/Widgets/Viewer/Viewer.js
@@ -1914,8 +1914,6 @@ Either specify options.terrainProvider instead or set options.baseLayerPicker to
         viewer.trackedEntity = undefined;
 
         var boundingSphere = BoundingSphere.fromBoundingSpheres(boundingSpheres);
-        var controller = scene.screenSpaceCameraController;
-        controller.minimumZoomDistance = Math.min(controller.minimumZoomDistance, boundingSphere.radius * 0.5);
 
         if (!viewer._zoomIsFlight) {
             camera.viewBoundingSphere(boundingSphere, viewer._zoomOptions);
diff --git a/Specs/Scene/CameraSpec.js b/Specs/Scene/CameraSpec.js
index 786ee962f3a5..0e9641dcfde0 100644
--- a/Specs/Scene/CameraSpec.js
+++ b/Specs/Scene/CameraSpec.js
@@ -2605,6 +2605,36 @@ defineSuite([
         expect(distance).toBeLessThan(sphere.radius * 3.0);
     });
 
+    it('flyToBoundingSphere does not zoom closer than minimumZoomDistance', function() {
+        scene.mode = SceneMode.SCENE3D;
+        var minValue = 1000;
+        scene.screenSpaceCameraController.minimumZoomDistance = minValue;
+
+        var sphere = new BoundingSphere(Cartesian3.fromDegrees(-117.16, 32.71, 0.0), 10.0);
+
+        camera.flyToBoundingSphere(sphere, {
+            duration : 0.0
+        });
+
+        var distance = Cartesian3.distance(camera.position, sphere.center);
+        expect(CesiumMath.equalsEpsilon(distance, minValue, 0.1)).toBe(true);
+    });
+
+    it('flyToBoundingSphere does not zoom further than maximumZoomDistance', function() {
+        scene.mode = SceneMode.SCENE3D;
+        var maxValue = 10000;
+        scene.screenSpaceCameraController.maximumZoomDistance = maxValue;
+
+        var sphere = new BoundingSphere(Cartesian3.fromDegrees(-117.16, 32.71, 0.0), 100000);
+
+        camera.flyToBoundingSphere(sphere, {
+            duration : 0.0
+        });
+
+        var distance = Cartesian3.distance(camera.position, sphere.center);
+        expect(CesiumMath.equalsEpsilon(distance, maxValue, 0.1)).toBe(true);
+    });
+
     it('distanceToBoundingSphere', function() {
         scene.mode = SceneMode.SCENE3D;