diff --git a/code/crates/core-driver/src/driver.rs b/code/crates/core-driver/src/driver.rs
index 81790ee46..ca925f8e2 100644
--- a/code/crates/core-driver/src/driver.rs
+++ b/code/crates/core-driver/src/driver.rs
@@ -62,6 +62,10 @@ where
     /// The first element of the tuple is the round at which that input has been emitted.
     pending_inputs: Vec<(Round, RoundInput<Ctx>)>,
 
+    /// The set of timeouts already scheduled by the consensus logic.
+    /// Intended to avoid scheduling the same timeout multiple times.
+    scheduled_timeouts: Vec<Timeout>,
+
     last_prevote: Option<Ctx::Vote>,
     last_precommit: Option<Ctx::Vote>,
 
@@ -98,6 +102,7 @@ where
             round_state,
             proposer: None,
             pending_inputs: vec![],
+            scheduled_timeouts: vec![],
             commit_certificates: vec![],
             polka_certificates: vec![],
             last_prevote: None,
@@ -119,7 +124,6 @@ where
         // Reset the round state
         let round_state = RoundState::new(height, Round::Nil);
         self.round_state = round_state;
-        self.round_certificate = None;
 
         // Reset the proposal keeper
         let proposal_keeper = ProposalKeeper::new();
@@ -130,8 +134,10 @@ where
         self.polka_certificates = vec![];
 
         // Reset additional internal state
+        self.scheduled_timeouts.clear();
         self.last_prevote = None;
         self.last_precommit = None;
+        self.round_certificate = None;
     }
 
     /// Return the height of the consensus.
@@ -370,10 +376,10 @@ where
 
             RoundOutput::Vote(vote) => self.lift_vote_output(vote, outputs),
 
-            RoundOutput::ScheduleTimeout(timeout) => outputs.push(Output::ScheduleTimeout(timeout)),
+            RoundOutput::ScheduleTimeout(timeout) => self.lift_timeout_output(timeout, outputs),
 
             RoundOutput::GetValueAndScheduleTimeout(height, round, timeout) => {
-                outputs.push(Output::ScheduleTimeout(timeout));
+                self.lift_timeout_output(timeout, outputs);
                 outputs.push(Output::GetValue(height, round, timeout));
             }
 
@@ -381,6 +387,18 @@ where
         }
     }
 
+    fn lift_timeout_output(&mut self, timeout: Timeout, outputs: &mut Vec<Output<Ctx>>) {
+        if timeout.round < self.round() || self.scheduled_timeouts.contains(&timeout) {
+            return;
+        }
+        debug_assert!(
+            timeout.is_consensus(),
+            "lift_timeout_output received {timeout:?}"
+        );
+        self.scheduled_timeouts.push(timeout);
+        outputs.push(Output::ScheduleTimeout(timeout));
+    }
+
     fn lift_vote_output(&mut self, vote: Ctx::Vote, outputs: &mut Vec<Output<Ctx>>) {
         if vote.validator_address() != self.address() {
             return;
@@ -482,6 +500,10 @@ where
         // Update the proposer for the new round
         self.proposer = Some(proposer);
 
+        // Remove useless timeouts from previous rounds
+        self.scheduled_timeouts
+            .retain(|timeout| timeout.round >= round);
+
         self.apply_input(round, RoundInput::NewRound(round))
     }
 
diff --git a/code/crates/core-driver/tests/it/extra.rs b/code/crates/core-driver/tests/it/extra.rs
index 3cd1ae5f6..42269666c 100644
--- a/code/crates/core-driver/tests/it/extra.rs
+++ b/code/crates/core-driver/tests/it/extra.rs
@@ -2980,8 +2980,6 @@ fn polka_nil_and_prevote_step_precommit_nil() {
             expected_outputs: vec![
                 prevote_nil_output(Round::new(0), &my_addr),
                 precommit_nil_output(Round::new(0), &my_addr),
-                start_precommit_timer_output(Round::new(0)),
-                start_precommit_timer_output(Round::new(0)),
             ],
             expected_round: Round::new(0),
             new_state: precommit_state(Round::new(0)),
@@ -3049,7 +3047,6 @@ fn polka_any_and_prevote_step_timeout_prevote() {
             expected_outputs: vec![
                 prevote_nil_output(Round::new(0), &my_addr),
                 start_prevote_timer_output(Round::new(0)),
-                start_precommit_timer_output(Round::new(0)),
             ],
             expected_round: Round::new(0),
             new_state: prevote_state(Round::new(0)),
@@ -3117,7 +3114,6 @@ fn polka_value_no_proposal_and_prevote_step_timeout_prevote() {
             expected_outputs: vec![
                 prevote_nil_output(Round::new(0), &my_addr),
                 start_prevote_timer_output(Round::new(0)),
-                start_precommit_timer_output(Round::new(0)),
             ],
             expected_round: Round::new(0),
             new_state: prevote_state(Round::new(0)),
@@ -3195,7 +3191,6 @@ fn polka_any_precommit_any_future_round() {
             expected_outputs: vec![
                 prevote_nil_output(Round::new(1), &my_addr),
                 start_prevote_timer_output(Round::new(1)),
-                start_precommit_timer_output(Round::new(1)),
             ],
             expected_round: Round::new(1),
             new_state: prevote_state(Round::new(1)),
@@ -3271,8 +3266,6 @@ fn polka_nil_precommit_any_future_round() {
             expected_outputs: vec![
                 prevote_nil_output(Round::new(1), &my_addr),
                 precommit_nil_output(Round::new(1), &my_addr),
-                start_precommit_timer_output(Round::new(1)),
-                start_precommit_timer_output(Round::new(1)), // :'(
             ],
             expected_round: Round::new(1),
             new_state: precommit_state(Round::new(1)),
diff --git a/code/crates/core-types/src/timeout.rs b/code/crates/core-types/src/timeout.rs
index da18cbbf0..32d67d45f 100644
--- a/code/crates/core-types/src/timeout.rs
+++ b/code/crates/core-types/src/timeout.rs
@@ -39,6 +39,14 @@ impl Timeout {
         Self { round, kind }
     }
 
+    /// Check if this timeout is for a consensus step (propose, prevote, or precommit).
+    pub fn is_consensus(&self) -> bool {
+        matches!(
+            self.kind,
+            TimeoutKind::Propose | TimeoutKind::Prevote | TimeoutKind::Precommit
+        )
+    }
+
     /// Create a new timeout for the propose step of the given round.
     pub const fn propose(round: Round) -> Self {
         Self::new(round, TimeoutKind::Propose)