diff --git a/workflow/controller/operator_agent_test.go b/workflow/controller/operator_agent_test.go
index 399ebcf594b3..c35f83c2dc9c 100644
--- a/workflow/controller/operator_agent_test.go
+++ b/workflow/controller/operator_agent_test.go
@@ -87,3 +87,53 @@ func TestHTTPTemplateWithoutServiceAccount(t *testing.T) {
 		assert.Equal(t, `create agent pod failed with reason:"failed to get token volumes: serviceaccounts "default" not found"`, woc.wf.Status.Nodes["hello-world"].Message)
 	})
 }
+
+func TestHTTPTemplateWhenAgentPodFailed(t *testing.T) {
+	wf := wfv1.MustUnmarshalWorkflow(httpwf)
+	cancel, controller := newController(wf, defaultServiceAccount)
+	defer cancel()
+
+	t.Run("ExecuteHTTPTemplateWhenAgentPodFailed", func(t *testing.T) {
+		ctx := context.Background()
+		woc := newWorkflowOperationCtx(wf, controller)
+		woc.operate(ctx)
+		pod, err := controller.kubeclientset.CoreV1().Pods(woc.wf.Namespace).Get(ctx, woc.getAgentPodName(), metav1.GetOptions{})
+		require.NoError(t, err)
+		assert.NotNil(t, pod)
+		ts, err := controller.wfclientset.ArgoprojV1alpha1().WorkflowTaskSets(wf.Namespace).Get(ctx, "hello-world", metav1.GetOptions{})
+		require.NoError(t, err)
+		assert.NotNil(t, ts)
+		assert.Len(t, ts.Spec.Tasks, 1)
+		ts.Status.Nodes = make(map[string]wfv1.NodeResult)
+		ts.Status.Nodes["hello-world"] = wfv1.NodeResult{
+			Phase:   wfv1.NodePending,
+			Message: "Queuing",
+		}
+		ts, err = controller.wfclientset.ArgoprojV1alpha1().WorkflowTaskSets(wf.Namespace).UpdateStatus(ctx, ts, metav1.UpdateOptions{})
+		require.NoError(t, err)
+		assert.Equal(t, wfv1.NodePending, ts.Status.Nodes["hello-world"].Phase)
+		wf, err = controller.wfclientset.ArgoprojV1alpha1().Workflows(wf.Namespace).Get(ctx, "hello-world", metav1.GetOptions{})
+		require.NoError(t, err)
+
+		// simulate agent pod failure scenario
+		pod.Status.Phase = v1.PodFailed
+		pod.Status.Message = "manual termination"
+		pod, err = controller.kubeclientset.CoreV1().Pods(woc.wf.Namespace).UpdateStatus(ctx, pod, metav1.UpdateOptions{})
+		require.NoError(t, err)
+		assert.Equal(t, v1.PodFailed, pod.Status.Phase)
+		// sleep 1 second to wait for informer getting pod info
+		time.Sleep(time.Second)
+		woc = newWorkflowOperationCtx(wf, controller)
+		woc.operate(ctx)
+		assert.Equal(t, wfv1.WorkflowError, woc.wf.Status.Phase)
+		assert.Equal(t, `agent pod failed with reason:"manual termination"`, woc.wf.Status.Message)
+		assert.Len(t, woc.wf.Status.Nodes, 1)
+		assert.Equal(t, wfv1.NodeError, woc.wf.Status.Nodes["hello-world"].Phase)
+		assert.Equal(t, `agent pod failed with reason:"manual termination"`, woc.wf.Status.Nodes["hello-world"].Message)
+		ts, err = controller.wfclientset.ArgoprojV1alpha1().WorkflowTaskSets(wf.Namespace).Get(ctx, "hello-world", metav1.GetOptions{})
+		require.NoError(t, err)
+		assert.NotNil(t, ts)
+		assert.Empty(t, ts.Spec.Tasks)
+		assert.Empty(t, ts.Status.Nodes)
+	})
+}
diff --git a/workflow/controller/taskset.go b/workflow/controller/taskset.go
index de244c139f47..1f8748a2877a 100644
--- a/workflow/controller/taskset.go
+++ b/workflow/controller/taskset.go
@@ -138,6 +138,10 @@ func (woc *wfOperationCtx) reconcileTaskSet(ctx context.Context) error {
 		return err
 	}
 
+	if len(woc.taskSet) == 0 {
+		return nil
+	}
+
 	woc.log.Info("TaskSet Reconciliation")
 	if workflowTaskSet != nil && len(workflowTaskSet.Status.Nodes) > 0 {
 		for nodeID, taskResult := range workflowTaskSet.Status.Nodes {
diff --git a/workflow/controller/taskset_test.go b/workflow/controller/taskset_test.go
index dd54ced0a8de..72c5522da0a4 100644
--- a/workflow/controller/taskset_test.go
+++ b/workflow/controller/taskset_test.go
@@ -400,8 +400,7 @@ status:
 		require.NoError(t, err)
 		woc := newWorkflowOperationCtx(wf, controller)
 		time.Sleep(1 * time.Second)
-		err = woc.reconcileTaskSet(ctx)
-		require.NoError(t, err)
+		woc.operate(ctx)
 		memo, err := controller.kubeclientset.CoreV1().ConfigMaps("default").Get(ctx, "cache-demo-1", v1.GetOptions{})
 		require.NoError(t, err)
 		assert.NotEmpty(t, memo.Data["cache-demo-1"])