diff --git a/doc/classes/PhysicsServer2D.xml b/doc/classes/PhysicsServer2D.xml
index 7368fe06ab..6f88707259 100644
--- a/doc/classes/PhysicsServer2D.xml
+++ b/doc/classes/PhysicsServer2D.xml
@@ -346,7 +346,7 @@
 			<return type="PhysicsDirectBodyState2D" />
 			<argument index="0" name="body" type="RID" />
 			<description>
-				Returns the [PhysicsDirectBodyState2D] of the body.
+				Returns the [PhysicsDirectBodyState2D] of the body. Returns [code]null[/code] if the body is destroyed or removed from the physics space.
 			</description>
 		</method>
 		<method name="body_get_max_contacts_reported" qualifiers="const">
diff --git a/doc/classes/PhysicsServer3D.xml b/doc/classes/PhysicsServer3D.xml
index 0f02cdf92f..b144c2c299 100644
--- a/doc/classes/PhysicsServer3D.xml
+++ b/doc/classes/PhysicsServer3D.xml
@@ -320,7 +320,7 @@
 			<return type="PhysicsDirectBodyState3D" />
 			<argument index="0" name="body" type="RID" />
 			<description>
-				Returns the [PhysicsDirectBodyState3D] of the body.
+				Returns the [PhysicsDirectBodyState3D] of the body. Returns [code]null[/code] if the body is destroyed or removed from the physics space.
 			</description>
 		</method>
 		<method name="body_get_max_contacts_reported" qualifiers="const">
diff --git a/modules/bullet/bullet_physics_server.cpp b/modules/bullet/bullet_physics_server.cpp
index 610d2145cd..684a20cf4d 100644
--- a/modules/bullet/bullet_physics_server.cpp
+++ b/modules/bullet/bullet_physics_server.cpp
@@ -837,8 +837,17 @@ void BulletPhysicsServer3D::body_set_ray_pickable(RID p_body, bool p_enable) {
 }
 
 PhysicsDirectBodyState3D *BulletPhysicsServer3D::body_get_direct_state(RID p_body) {
+	if (!rigid_body_owner.owns(p_body)) {
+		return nullptr;
+	}
+
 	RigidBodyBullet *body = rigid_body_owner.get_or_null(p_body);
 	ERR_FAIL_COND_V(!body, nullptr);
+
+	if (!body->get_space()) {
+		return nullptr;
+	}
+
 	return BulletPhysicsDirectBodyState3D::get_singleton(body);
 }
 
diff --git a/scene/2d/physics_body_2d.cpp b/scene/2d/physics_body_2d.cpp
index a43d498a62..9d140f744f 100644
--- a/scene/2d/physics_body_2d.cpp
+++ b/scene/2d/physics_body_2d.cpp
@@ -1101,6 +1101,10 @@ bool CharacterBody2D::move_and_slide() {
 			if (bs) {
 				Vector2 local_position = gt.elements[2] - bs->get_transform().elements[2];
 				current_platform_velocity = bs->get_velocity_at_local_position(local_position);
+			} else {
+				// Body is removed or destroyed, invalidate floor.
+				current_platform_velocity = Vector2();
+				platform_rid = RID();
 			}
 		} else {
 			current_platform_velocity = Vector2();
diff --git a/scene/3d/physics_body_3d.cpp b/scene/3d/physics_body_3d.cpp
index d0506227b4..ea881b6d54 100644
--- a/scene/3d/physics_body_3d.cpp
+++ b/scene/3d/physics_body_3d.cpp
@@ -1145,6 +1145,10 @@ bool CharacterBody3D::move_and_slide() {
 			if (bs) {
 				Vector3 local_position = gt.origin - bs->get_transform().origin;
 				current_platform_velocity = bs->get_velocity_at_local_position(local_position);
+			} else {
+				// Body is removed or destroyed, invalidate floor.
+				current_platform_velocity = Vector3();
+				platform_rid = RID();
 			}
 		} else {
 			current_platform_velocity = Vector3();
diff --git a/servers/physics_2d/godot_physics_server_2d.cpp b/servers/physics_2d/godot_physics_server_2d.cpp
index cf66b80076..617fa6470a 100644
--- a/servers/physics_2d/godot_physics_server_2d.cpp
+++ b/servers/physics_2d/godot_physics_server_2d.cpp
@@ -963,10 +963,17 @@ bool GodotPhysicsServer2D::body_test_motion(RID p_body, const MotionParameters &
 PhysicsDirectBodyState2D *GodotPhysicsServer2D::body_get_direct_state(RID p_body) {
 	ERR_FAIL_COND_V_MSG((using_threads && !doing_sync), nullptr, "Body state is inaccessible right now, wait for iteration or physics process notification.");
 
+	if (!body_owner.owns(p_body)) {
+		return nullptr;
+	}
+
 	GodotBody2D *body = body_owner.get_or_null(p_body);
 	ERR_FAIL_COND_V(!body, nullptr);
 
-	ERR_FAIL_COND_V(!body->get_space(), nullptr);
+	if (!body->get_space()) {
+		return nullptr;
+	}
+
 	ERR_FAIL_COND_V_MSG(body->get_space()->is_locked(), nullptr, "Body state is inaccessible right now, wait for iteration or physics process notification.");
 
 	return body->get_direct_state();
diff --git a/servers/physics_3d/godot_physics_server_3d.cpp b/servers/physics_3d/godot_physics_server_3d.cpp
index 73654939ca..3e7f9faa27 100644
--- a/servers/physics_3d/godot_physics_server_3d.cpp
+++ b/servers/physics_3d/godot_physics_server_3d.cpp
@@ -881,10 +881,17 @@ bool GodotPhysicsServer3D::body_test_motion(RID p_body, const MotionParameters &
 PhysicsDirectBodyState3D *GodotPhysicsServer3D::body_get_direct_state(RID p_body) {
 	ERR_FAIL_COND_V_MSG((using_threads && !doing_sync), nullptr, "Body state is inaccessible right now, wait for iteration or physics process notification.");
 
+	if (!body_owner.owns(p_body)) {
+		return nullptr;
+	}
+
 	GodotBody3D *body = body_owner.get_or_null(p_body);
 	ERR_FAIL_NULL_V(body, nullptr);
 
-	ERR_FAIL_NULL_V(body->get_space(), nullptr);
+	if (!body->get_space()) {
+		return nullptr;
+	}
+
 	ERR_FAIL_COND_V_MSG(body->get_space()->is_locked(), nullptr, "Body state is inaccessible right now, wait for iteration or physics process notification.");
 
 	return body->get_direct_state();