diff --git a/modules/rtp_rtcp/source/rtp_sender.cc b/modules/rtp_rtcp/source/rtp_sender.cc
index 46157147e2..b64f8b3b4e 100644
--- a/modules/rtp_rtcp/source/rtp_sender.cc
+++ b/modules/rtp_rtcp/source/rtp_sender.cc
@@ -435,6 +435,17 @@ std::vector<std::unique_ptr<RtpPacketToSend>> RTPSender::GeneratePadding(
         break;
       }
       padding_packet->SetSsrc(ssrc_);
+
+      if (always_send_mid_and_rid_ || !ssrc_has_acked_) {
+        // These are no-ops if the corresponding header extension is not
+        // registered.
+        if (!mid_.empty()) {
+          padding_packet->SetExtension<RtpMid>(mid_);
+        }
+        if (!rid_.empty()) {
+          padding_packet->SetExtension<RtpStreamId>(rid_);
+        }
+      }
     } else {
       // Without abs-send-time or transport sequence number a media packet
       // must be sent before padding so that the timestamps used for
@@ -450,17 +461,20 @@ std::vector<std::unique_ptr<RtpPacketToSend>> RTPSender::GeneratePadding(
       RTC_DCHECK(!rtx_payload_type_map_.empty());
       padding_packet->SetSsrc(*rtx_ssrc_);
       padding_packet->SetPayloadType(rtx_payload_type_map_.begin()->second);
+
+      if (always_send_mid_and_rid_ || !rtx_ssrc_has_acked_) {
+        if (!mid_.empty()) {
+          padding_packet->SetExtension<RtpMid>(mid_);
+        }
+        if (!rid_.empty()) {
+          padding_packet->SetExtension<RepairedRtpStreamId>(rid_);
+        }
+      }
     }
 
-    if (rtp_header_extension_map_.IsRegistered(TransportSequenceNumber::kId)) {
-      padding_packet->ReserveExtension<TransportSequenceNumber>();
-    }
-    if (rtp_header_extension_map_.IsRegistered(TransmissionOffset::kId)) {
-      padding_packet->ReserveExtension<TransmissionOffset>();
-    }
-    if (rtp_header_extension_map_.IsRegistered(AbsoluteSendTime::kId)) {
-      padding_packet->ReserveExtension<AbsoluteSendTime>();
-    }
+    padding_packet->ReserveExtension<TransportSequenceNumber>();
+    padding_packet->ReserveExtension<TransmissionOffset>();
+    padding_packet->ReserveExtension<AbsoluteSendTime>();
 
     padding_packet->SetPadding(padding_bytes_in_packet);
     bytes_left -= std::min(bytes_left, padding_bytes_in_packet);
diff --git a/modules/rtp_rtcp/source/rtp_sender_unittest.cc b/modules/rtp_rtcp/source/rtp_sender_unittest.cc
index 80ca3195a2..bd434dd93e 100644
--- a/modules/rtp_rtcp/source/rtp_sender_unittest.cc
+++ b/modules/rtp_rtcp/source/rtp_sender_unittest.cc
@@ -1078,6 +1078,43 @@ TEST_F(RtpSenderTest, GeneratedPaddingHasBweExtensions) {
   EXPECT_GT(payload_padding->payload_size(), 0u);
 }
 
+TEST_F(RtpSenderTest, GeneratedPaddingHasMidRidExtensions) {
+  EnableMidSending("mid");
+  EnableRidSending();
+
+  // Send a dummy video packet so it ends up in the packet history. Since we
+  // are not using RTX, it should never be used as padding.
+  packet_history_->SetStorePacketsStatus(
+      RtpPacketHistory::StorageMode::kStoreAndCull, 1);
+  std::unique_ptr<RtpPacketToSend> packet =
+      BuildRtpPacket(kPayload, true, 0, env_.clock().CurrentTime());
+  packet->set_allow_retransmission(true);
+  packet->SetPayloadSize(1234);
+  packet->set_packet_type(RtpPacketMediaType::kVideo);
+  sequencer_->Sequence(*packet);
+  packet_history_->PutRtpPacket(std::move(packet), env_.clock().CurrentTime());
+
+  std::vector<std::unique_ptr<RtpPacketToSend>> padding_packets =
+      GeneratePadding(/*target_size_bytes=*/1);
+  ASSERT_THAT(padding_packets, SizeIs(1));
+
+  EXPECT_TRUE(padding_packets[0]->HasExtension<RtpMid>());
+  EXPECT_TRUE(padding_packets[0]->HasExtension<RtpStreamId>());
+}
+
+TEST_F(RtpSenderTest, GeneratedPaddingOnRtxHasMidRidExtensions) {
+  EnableRtx();
+  EnableMidSending("mid");
+  EnableRidSending();
+
+  std::vector<std::unique_ptr<RtpPacketToSend>> padding_packets =
+      GeneratePadding(/*target_size_bytes=*/1);
+  ASSERT_THAT(padding_packets, SizeIs(1));
+
+  EXPECT_TRUE(padding_packets[0]->HasExtension<RtpMid>());
+  EXPECT_TRUE(padding_packets[0]->HasExtension<RepairedRtpStreamId>());
+}
+
 TEST_F(RtpSenderTest, GeneratePaddingResendsOldPacketsWithRtx) {
   // Min requested size in order to use RTX payload.
   const size_t kMinPaddingSize = 50;