diff --git a/CHANGELOG.md b/CHANGELOG.md
index c0f0905793..296baebb8c 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -69,6 +69,7 @@ Ref: https://keepachangelog.com/en/1.0.0/
 
 ### Client Breaking Changes
 
+* [\#9879](https://github.com/cosmos/cosmos-sdk/pull/9879) Modify ABCI Queries to use `abci.QueryRequest` Height field if it is non-zero, otherwise continue using context height.
 * [\#9594](https://github.com/cosmos/cosmos-sdk/pull/9594) Remove legacy REST API. Please see the [REST Endpoints Migration guide](https://docs.cosmos.network/master/migrations/rest.html) to migrate to the new REST endpoints.
 
 ### CLI Breaking Changes
diff --git a/client/grpc_query.go b/client/grpc_query.go
index 011523944c..cbaba73caa 100644
--- a/client/grpc_query.go
+++ b/client/grpc_query.go
@@ -112,8 +112,9 @@ func RunGRPCQuery(ctx Context, grpcCtx gocontext.Context, method string, req int
 	}
 
 	abciReq := abci.RequestQuery{
-		Path: method,
-		Data: reqBz,
+		Path:   method,
+		Data:   reqBz,
+		Height: ctx.Height,
 	}
 
 	abciRes, err := ctx.QueryABCI(abciReq)
diff --git a/client/query.go b/client/query.go
index e79779ce57..be603dfbf6 100644
--- a/client/query.go
+++ b/client/query.go
@@ -50,7 +50,9 @@ func (ctx Context) QueryStore(key tmbytes.HexBytes, storeName string) ([]byte, i
 }
 
 // QueryABCI performs a query to a Tendermint node with the provide RequestQuery.
-// It returns the ResultQuery obtained from the query.
+// It returns the ResultQuery obtained from the query. The height used to perform
+// the query is the RequestQuery Height if it is non-zero, otherwise the context
+// height is used.
 func (ctx Context) QueryABCI(req abci.RequestQuery) (abci.ResponseQuery, error) {
 	return ctx.queryABCI(req)
 }
@@ -76,8 +78,16 @@ func (ctx Context) queryABCI(req abci.RequestQuery) (abci.ResponseQuery, error)
 		return abci.ResponseQuery{}, err
 	}
 
+	var queryHeight int64
+	if req.Height != 0 {
+		queryHeight = req.Height
+	} else {
+		// fallback on the context height
+		queryHeight = ctx.Height
+	}
+
 	opts := rpcclient.ABCIQueryOptions{
-		Height: ctx.Height,
+		Height: queryHeight,
 		Prove:  req.Prove,
 	}
 
diff --git a/client/query_test.go b/client/query_test.go
new file mode 100644
index 0000000000..14cc25ba9d
--- /dev/null
+++ b/client/query_test.go
@@ -0,0 +1,63 @@
+// +build norace
+
+package client_test
+
+import (
+	"fmt"
+
+	abci "github.com/tendermint/tendermint/abci/types"
+
+	banktypes "github.com/cosmos/cosmos-sdk/x/bank/types"
+)
+
+func (s *IntegrationTestSuite) TestQueryABCIHeight() {
+
+	testCases := []struct {
+		name      string
+		reqHeight int64
+		ctxHeight int64
+		expHeight int64
+	}{
+		{
+			name:      "non zero request height",
+			reqHeight: 3,
+			ctxHeight: 1, // query at height 1 or 2 would cause an error
+			expHeight: 3,
+		},
+		{
+			name:      "empty request height - use context height",
+			reqHeight: 0,
+			ctxHeight: 3,
+			expHeight: 3,
+		},
+		{
+			name:      "empty request height and context height - use latest height",
+			reqHeight: 0,
+			ctxHeight: 0,
+			expHeight: 4,
+		},
+	}
+
+	for _, tc := range testCases {
+		s.Run(tc.name, func() {
+			s.network.WaitForHeight(tc.expHeight)
+
+			val := s.network.Validators[0]
+
+			clientCtx := val.ClientCtx
+			clientCtx = clientCtx.WithHeight(tc.ctxHeight)
+
+			req := abci.RequestQuery{
+				Path:   fmt.Sprintf("store/%s/key", banktypes.StoreKey),
+				Height: tc.reqHeight,
+				Data:   banktypes.CreateAccountBalancesPrefix(val.Address),
+				Prove:  true,
+			}
+
+			res, err := clientCtx.QueryABCI(req)
+			s.Require().NoError(err)
+
+			s.Require().Equal(tc.expHeight, res.Height)
+		})
+	}
+}