diff --git a/.changelog/2858.bugfix.md b/.changelog/2858.bugfix.md
new file mode 100644
index 00000000000..7b0c928d287
--- /dev/null
+++ b/.changelog/2858.bugfix.md
@@ -0,0 +1,4 @@
+go/extra/stats: fix heights at which missing nodes should be queried
+
+If a missing signature is encountered, the registry should be queried at
+previous height, since that is the height at which the vote was made.
diff --git a/go/extra/stats/cmd/stats.go b/go/extra/stats/cmd/stats.go
index a25faa4dbb1..07d1583d1f4 100644
--- a/go/extra/stats/cmd/stats.go
+++ b/go/extra/stats/cmd/stats.go
@@ -273,10 +273,11 @@ func getStats(ctx context.Context, consensus consensusAPI.ClientBackend, registr
 			}
 			nodeTmAddr := sig.ValidatorAddress.String()
 
-			if err := ensureNodeTracking(ctx, stats, nodeTmAddr, height, registry); err != nil {
+			// Signatures are for previous height.
+			if err := ensureNodeTracking(ctx, stats, nodeTmAddr, height-1, registry); err != nil {
 				logger.Error("failed to query registry",
 					"err", err,
-					"height", height,
+					"height", height-1,
 				)
 				os.Exit(1)
 			}
@@ -294,10 +295,11 @@ func getStats(ctx context.Context, consensus consensusAPI.ClientBackend, registr
 		if previousProposerAddr != "" {
 			// Only count round 0 proposals.
 			if tmBlockMeta.LastCommit.Round == 0 {
-				if err := ensureNodeTracking(ctx, stats, previousProposerAddr, height, registry); err != nil {
+				// Proposers are for previous height.
+				if err := ensureNodeTracking(ctx, stats, previousProposerAddr, height-1, registry); err != nil {
 					logger.Error("failed to query registry",
 						"err", err,
-						"height", height,
+						"height", height-1,
 					)
 					os.Exit(1)
 				}