diff --git a/internal/querynode/query_node.go b/internal/querynode/query_node.go
index 635a62f327..03fff17b6a 100644
--- a/internal/querynode/query_node.go
+++ b/internal/querynode/query_node.go
@@ -50,6 +50,8 @@ import (
 	clientv3 "go.etcd.io/etcd/client/v3"
 	"go.uber.org/zap"
 
+	v3rpc "go.etcd.io/etcd/api/v3/v3rpc/rpctypes"
+
 	etcdkv "github.com/milvus-io/milvus/internal/kv/etcd"
 	"github.com/milvus-io/milvus/internal/log"
 	"github.com/milvus-io/milvus/internal/proto/internalpb"
@@ -61,7 +63,6 @@ import (
 	"github.com/milvus-io/milvus/internal/util/paramtable"
 	"github.com/milvus-io/milvus/internal/util/sessionutil"
 	"github.com/milvus-io/milvus/internal/util/typeutil"
-	v3rpc "go.etcd.io/etcd/api/v3/v3rpc/rpctypes"
 )
 
 // make sure QueryNode implements types.QueryNode
@@ -376,6 +377,8 @@ func (node *QueryNode) handleSealedSegmentsChangeInfo(info *querypb.SealedSegmen
 			log.Warn("failed to validate vchannel for SegmentChangeInfo", zap.Error(err))
 			continue
 		}
+		// ignore segments that are online and offline in the same QueryNode
+		filterDuplicateChangeInfo(line)
 
 		node.ShardClusterService.HandoffVChannelSegments(vchannel, line)
 	}
@@ -407,3 +410,41 @@ func validateChangeChannel(info *querypb.SegmentChangeInfo) (string, error) {
 
 	return channelName, nil
 }
+
+// filterDuplicateChangeInfo filters out duplicated sealed segments which are both online and offline (Fix issue#17347)
+func filterDuplicateChangeInfo(line *querypb.SegmentChangeInfo) {
+	if line.OnlineNodeID == line.OfflineNodeID {
+		dupSegmentIDs := make(map[UniqueID]struct{})
+		for _, onlineSegment := range line.OnlineSegments {
+			for _, offlineSegment := range line.OfflineSegments {
+				if onlineSegment.SegmentID == offlineSegment.SegmentID && onlineSegment.SegmentState == segmentTypeSealed && offlineSegment.SegmentState == segmentTypeSealed {
+					dupSegmentIDs[onlineSegment.SegmentID] = struct{}{}
+				}
+			}
+		}
+		if len(dupSegmentIDs) == 0 {
+			return
+		}
+
+		var dupSegmentIDsList []UniqueID
+		for sid := range dupSegmentIDs {
+			dupSegmentIDsList = append(dupSegmentIDsList, sid)
+		}
+		log.Warn("Found sealed segments are that are online and offline.", zap.Int64s("SegmentIDs", dupSegmentIDsList))
+
+		var filteredOnlineSegments []*querypb.SegmentInfo
+		for _, onlineSegment := range line.OnlineSegments {
+			if _, ok := dupSegmentIDs[onlineSegment.SegmentID]; !ok {
+				filteredOnlineSegments = append(filteredOnlineSegments, onlineSegment)
+			}
+		}
+		line.OnlineSegments = filteredOnlineSegments
+		var filteredOfflineSegments []*querypb.SegmentInfo
+		for _, offlineSegment := range line.OfflineSegments {
+			if _, ok := dupSegmentIDs[offlineSegment.SegmentID]; !ok {
+				filteredOfflineSegments = append(filteredOfflineSegments, offlineSegment)
+			}
+		}
+		line.OfflineSegments = filteredOfflineSegments
+	}
+}
diff --git a/internal/querynode/query_node_test.go b/internal/querynode/query_node_test.go
index 50e62fcb65..419d79250e 100644
--- a/internal/querynode/query_node_test.go
+++ b/internal/querynode/query_node_test.go
@@ -413,6 +413,74 @@ func TestQueryNode_validateChangeChannel(t *testing.T) {
 	}
 }
 
+func TestQueryNode_filterDuplicateChangeInfo(t *testing.T) {
+	t.Run("dup change info", func(t *testing.T) {
+		info := &querypb.SegmentChangeInfo{
+			OnlineNodeID: 233,
+			OnlineSegments: []*querypb.SegmentInfo{
+				{
+					SegmentID:    23333,
+					SegmentState: segmentTypeSealed,
+				},
+			},
+			OfflineNodeID: 233,
+			OfflineSegments: []*querypb.SegmentInfo{
+				{
+					SegmentID:    23333,
+					SegmentState: segmentTypeSealed,
+				},
+			},
+		}
+		filterDuplicateChangeInfo(info)
+		assert.Equal(t, 0, len(info.OnlineSegments))
+		assert.Equal(t, 0, len(info.OfflineSegments))
+	})
+
+	t.Run("normal change info1", func(t *testing.T) {
+		info := &querypb.SegmentChangeInfo{
+			OnlineNodeID: 233,
+			OnlineSegments: []*querypb.SegmentInfo{
+				{
+					SegmentID:    23333,
+					SegmentState: segmentTypeSealed,
+				},
+			},
+			OfflineNodeID: 234,
+			OfflineSegments: []*querypb.SegmentInfo{
+				{
+					SegmentID:    23333,
+					SegmentState: segmentTypeSealed,
+				},
+			},
+		}
+		filterDuplicateChangeInfo(info)
+		assert.Equal(t, 1, len(info.OnlineSegments))
+		assert.Equal(t, 1, len(info.OfflineSegments))
+	})
+
+	t.Run("normal change info2", func(t *testing.T) {
+		info := &querypb.SegmentChangeInfo{
+			OnlineNodeID: 233,
+			OnlineSegments: []*querypb.SegmentInfo{
+				{
+					SegmentID:    23333,
+					SegmentState: segmentTypeSealed,
+				},
+			},
+			OfflineNodeID: 234,
+			OfflineSegments: []*querypb.SegmentInfo{
+				{
+					SegmentID:    23333,
+					SegmentState: segmentTypeSealed,
+				},
+			},
+		}
+		filterDuplicateChangeInfo(info)
+		assert.Equal(t, 1, len(info.OnlineSegments))
+		assert.Equal(t, 1, len(info.OfflineSegments))
+	})
+}
+
 func TestQueryNode_handleSealedSegmentsChangeInfo(t *testing.T) {
 	ctx, cancel := context.WithCancel(context.Background())
 	defer cancel()