diff --git a/airflow/jobs/scheduler_job_runner.py b/airflow/jobs/scheduler_job_runner.py
index 5bd9f816a33f..33b765334246 100644
--- a/airflow/jobs/scheduler_job_runner.py
+++ b/airflow/jobs/scheduler_job_runner.py
@@ -1579,11 +1579,11 @@ def _emit_pool_metrics(self, session: Session = NEW_SESSION) -> None:
     @provide_session
     def adopt_or_reset_orphaned_tasks(self, session: Session = NEW_SESSION) -> int:
         """
-        Reset any TaskInstance in QUEUED or SCHEDULED state if its SchedulerJob is no longer running.
+        Adopt or reset any TaskInstance in resettable state if its SchedulerJob is no longer running.
 
         :return: the number of TIs reset
         """
-        self.log.info("Resetting orphaned tasks for active dag runs")
+        self.log.info("Adopting or resetting orphaned tasks for active dag runs")
         timeout = conf.getint("scheduler", "scheduler_health_check_threshold")
 
         for attempt in run_with_db_retries(logger=self.log):
@@ -1609,10 +1609,9 @@ def adopt_or_reset_orphaned_tasks(self, session: Session = NEW_SESSION) -> int:
                         self.log.info("Marked %d SchedulerJob instances as failed", num_failed)
                         Stats.incr(self.__class__.__name__.lower() + "_end", num_failed)
 
-                    resettable_states = [TaskInstanceState.QUEUED, TaskInstanceState.RUNNING]
                     query = (
                         select(TI)
-                        .where(TI.state.in_(resettable_states))
+                        .where(TI.state.in_(State.adoptable_states))
                         # outerjoin is because we didn't use to have queued_by_job
                         # set, so we need to pick up anything pre upgrade. This (and the
                         # "or queued_by_job_id IS NONE") can go as soon as scheduler HA is
@@ -1628,11 +1627,11 @@ def adopt_or_reset_orphaned_tasks(self, session: Session = NEW_SESSION) -> int:
                     )
 
                     # Lock these rows, so that another scheduler can't try and adopt these too
-                    tis_to_reset_or_adopt = with_row_locks(
+                    tis_to_adopt_or_reset = with_row_locks(
                         query, of=TI, session=session, **skip_locked(session=session)
                     )
-                    tis_to_reset_or_adopt = session.scalars(tis_to_reset_or_adopt).all()
-                    to_reset = self.job.executor.try_adopt_task_instances(tis_to_reset_or_adopt)
+                    tis_to_adopt_or_reset = session.scalars(tis_to_adopt_or_reset).all()
+                    to_reset = self.job.executor.try_adopt_task_instances(tis_to_adopt_or_reset)
 
                     reset_tis_message = []
                     for ti in to_reset:
@@ -1640,11 +1639,11 @@ def adopt_or_reset_orphaned_tasks(self, session: Session = NEW_SESSION) -> int:
                         ti.state = None
                         ti.queued_by_job_id = None
 
-                    for ti in set(tis_to_reset_or_adopt) - set(to_reset):
+                    for ti in set(tis_to_adopt_or_reset) - set(to_reset):
                         ti.queued_by_job_id = self.job.id
 
                     Stats.incr("scheduler.orphaned_tasks.cleared", len(to_reset))
-                    Stats.incr("scheduler.orphaned_tasks.adopted", len(tis_to_reset_or_adopt) - len(to_reset))
+                    Stats.incr("scheduler.orphaned_tasks.adopted", len(tis_to_adopt_or_reset) - len(to_reset))
 
                     if to_reset:
                         task_instance_str = "\n\t".join(reset_tis_message)
diff --git a/airflow/utils/state.py b/airflow/utils/state.py
index 22fb6e27c814..6da7dacc75ce 100644
--- a/airflow/utils/state.py
+++ b/airflow/utils/state.py
@@ -199,3 +199,11 @@ def color_fg(cls, state):
     """
     A list of states indicating that a task has been terminated.
     """
+
+    adoptable_states = frozenset(
+        [TaskInstanceState.QUEUED, TaskInstanceState.RUNNING, TaskInstanceState.RESTARTING]
+    )
+    """
+    A list of states indicating that a task can be adopted or reset by a scheduler job
+    if it was queued by another scheduler job that is not running anymore.
+    """
diff --git a/tests/jobs/test_scheduler_job.py b/tests/jobs/test_scheduler_job.py
index cffea246e460..d1612a84f3ca 100644
--- a/tests/jobs/test_scheduler_job.py
+++ b/tests/jobs/test_scheduler_job.py
@@ -3151,6 +3151,30 @@ def test_adopt_or_reset_orphaned_tasks_nothing(self):
         session = settings.Session()
         assert 0 == self.job_runner.adopt_or_reset_orphaned_tasks(session=session)
 
+    @pytest.mark.parametrize(
+        "adoptable_state",
+        State.adoptable_states,
+    )
+    def test_adopt_or_reset_resettable_tasks(self, dag_maker, adoptable_state):
+        dag_id = "test_adopt_or_reset_adoptable_tasks_" + adoptable_state.name
+        with dag_maker(dag_id=dag_id, schedule="@daily"):
+            task_id = dag_id + "_task"
+            EmptyOperator(task_id=task_id)
+
+        scheduler_job = Job()
+        self.job_runner = SchedulerJobRunner(job=scheduler_job, subdir=os.devnull)
+        session = settings.Session()
+
+        dr1 = dag_maker.create_dagrun(external_trigger=True)
+        ti = dr1.get_task_instances(session=session)[0]
+        ti.state = adoptable_state
+        session.merge(ti)
+        session.merge(dr1)
+        session.commit()
+
+        num_reset_tis = self.job_runner.adopt_or_reset_orphaned_tasks(session=session)
+        assert 1 == num_reset_tis
+
     def test_adopt_or_reset_orphaned_tasks_external_triggered_dag(self, dag_maker):
         dag_id = "test_reset_orphaned_tasks_external_triggered_dag"
         with dag_maker(dag_id=dag_id, schedule="@daily"):