diff --git a/airflow/models/dagbag.py b/airflow/models/dagbag.py
index 43f34350cffd9..8a5557c2c2264 100644
--- a/airflow/models/dagbag.py
+++ b/airflow/models/dagbag.py
@@ -326,6 +326,7 @@ def parse(mod_name, filepath):
                 loader.exec_module(new_module)
                 return [new_module]
             except Exception as e:
+                DagContext.autoregistered_dags.clear()
                 self.log.exception("Failed to import: %s", filepath)
                 if self.dagbag_import_error_tracebacks:
                     self.import_errors[filepath] = traceback.format_exc(
@@ -391,6 +392,7 @@ def _load_modules_from_zip(self, filepath, safe_mode):
                     current_module = importlib.import_module(mod_name)
                     mods.append(current_module)
                 except Exception as e:
+                    DagContext.autoregistered_dags.clear()
                     fileloc = os.path.join(filepath, zip_info.filename)
                     self.log.exception("Failed to import: %s", fileloc)
                     if self.dagbag_import_error_tracebacks:
diff --git a/tests/dags/test_invalid_dup_task.py b/tests/dags/test_invalid_dup_task.py
new file mode 100644
index 0000000000000..472cb9185135c
--- /dev/null
+++ b/tests/dags/test_invalid_dup_task.py
@@ -0,0 +1,30 @@
+# Licensed to the Apache Software Foundation (ASF) under one
+# or more contributor license agreements.  See the NOTICE file
+# distributed with this work for additional information
+# regarding copyright ownership.  The ASF licenses this file
+# to you under the Apache License, Version 2.0 (the
+# "License"); you may not use this file except in compliance
+# with the License.  You may obtain a copy of the License at
+#
+#   http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing,
+# software distributed under the License is distributed on an
+# "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY
+# KIND, either express or implied.  See the License for the
+# specific language governing permissions and limitations
+# under the License.
+from __future__ import annotations
+
+from datetime import datetime
+
+from airflow import DAG
+from airflow.operators.empty import EmptyOperator
+
+with DAG(
+    "test_invalid_dup_task",
+    start_date=datetime(2021, 1, 1),
+    schedule="@once",
+):
+    EmptyOperator(task_id="hi")
+    EmptyOperator(task_id="hi")
diff --git a/tests/jobs/test_scheduler_job.py b/tests/jobs/test_scheduler_job.py
index abed3148cdb1b..028522c74e9f8 100644
--- a/tests/jobs/test_scheduler_job.py
+++ b/tests/jobs/test_scheduler_job.py
@@ -2766,6 +2766,7 @@ def test_list_py_file_paths(self):
         ignored_files = {
             'no_dags.py',
             'test_invalid_cron.py',
+            'test_invalid_dup_task.py',
             'test_ignore_this.py',
             'test_invalid_param.py',
             'test_nested_dag.py',
diff --git a/tests/models/test_dagbag.py b/tests/models/test_dagbag.py
index 5be9a596aead9..ed20d41ef01ca 100644
--- a/tests/models/test_dagbag.py
+++ b/tests/models/test_dagbag.py
@@ -357,6 +357,28 @@ def test_get_dag_registration(self, file_to_load, expected):
             assert dag, f"{dag_id} was bagged"
             assert dag.fileloc.endswith(path)
 
+    def test_dag_registration_with_failure(self):
+        dagbag = models.DagBag(dag_folder=os.devnull, include_examples=False)
+        found = dagbag.process_file(str(TEST_DAGS_FOLDER / 'test_invalid_dup_task.py'))
+        assert [] == found
+
+    @pytest.fixture()
+    def zip_with_valid_dag_and_dup_tasks(self, tmp_path: pathlib.Path) -> Iterator[str]:
+        failing_dag_file = TEST_DAGS_FOLDER / 'test_invalid_dup_task.py'
+        working_dag_file = TEST_DAGS_FOLDER / 'test_example_bash_operator.py'
+        zipped = os.path.join(tmp_path, "test_zip_invalid_dup_task.zip")
+        with zipfile.ZipFile(zipped, "w") as zf:
+            zf.write(failing_dag_file, os.path.basename(failing_dag_file))
+            zf.write(working_dag_file, os.path.basename(working_dag_file))
+        yield zipped
+        os.unlink(zipped)
+
+    def test_dag_registration_with_failure_zipped(self, zip_with_valid_dag_and_dup_tasks):
+        dagbag = models.DagBag(dag_folder=os.devnull, include_examples=False)
+        found = dagbag.process_file(zip_with_valid_dag_and_dup_tasks)
+        assert 1 == len(found)
+        assert ['test_example_bash_operator'] == [dag.dag_id for dag in found]
+
     @patch.object(DagModel, "get_current")
     def test_refresh_py_dag(self, mock_dagmodel):
         """