diff --git a/src/plugin/duration/index.js b/src/plugin/duration/index.js
index 70d49296c..e2060c344 100644
--- a/src/plugin/duration/index.js
+++ b/src/plugin/duration/index.js
@@ -139,7 +139,8 @@ class Duration {
 
     let seconds = this.$d.seconds || 0
     if (this.$d.milliseconds) {
-      seconds += Math.round(this.$d.milliseconds) / 1000
+      seconds += this.$d.milliseconds / 1000
+      seconds = Math.round(seconds * 1000) / 1000
     }
 
     const S = getNumberUnitFormat(seconds, 'S')
diff --git a/test/plugin/duration.test.js b/test/plugin/duration.test.js
index f2c44156d..3e726af91 100644
--- a/test/plugin/duration.test.js
+++ b/test/plugin/duration.test.js
@@ -77,6 +77,15 @@ describe('Creating', () => {
     expect(dayjs.duration(1000.5).toISOString()).toBe('PT1.001S')
     expect(dayjs.duration(-1000.5).toISOString()).toBe('-PT1S')
   })
+  it('should handle floating point rounding errors', () => {
+    // An example of this is when adding 2 to 0.812 seconds, which is how
+    // the seconds component is calculated in .toISOString().
+    // > 2 + 0.812
+    // 2.8120000000000003
+    expect(dayjs.duration(-2812).toISOString()).toBe('-PT2.812S') // was -PT2.8120000000000003S
+    expect(dayjs.duration(3121632.27382247).toISOString()).toBe('PT52M1.632S') // was PT52M1.6320000000000001S
+    expect(dayjs.duration(7647826.525774224).toISOString()).toBe('PT2H7M27.827S') // was PT2H7M27.826999999999998S
+  })
 })
 
 describe('Parse ISO string', () => {