diff --git a/legged_gym/envs/base/legged_robot.py b/legged_gym/envs/base/legged_robot.py
index 90806a122..08d5835e3 100644
--- a/legged_gym/envs/base/legged_robot.py
+++ b/legged_gym/envs/base/legged_robot.py
@@ -168,6 +168,7 @@ def reset_idx(self, env_ids):
         self._resample_commands(env_ids)
 
         # reset buffers
+        self.actions[env_ids] = 0.
         self.last_actions[env_ids] = 0.
         self.last_dof_vel[env_ids] = 0.
         self.feet_air_time[env_ids] = 0.