diff --git a/AUTHORS b/AUTHORS
index 610d04c4b5a..a19e38bbf13 100644
--- a/AUTHORS
+++ b/AUTHORS
@@ -58,6 +58,7 @@ Christian Theunert
 Christian Tismer
 Christopher Gilling
 Christopher Dignam
+Claudio Madotto
 CrazyMerlyn
 Cyrus Maden
 Damian Skrzypczak
diff --git a/changelog/5430.bugfix.rst b/changelog/5430.bugfix.rst
new file mode 100644
index 00000000000..734685063c8
--- /dev/null
+++ b/changelog/5430.bugfix.rst
@@ -0,0 +1 @@
+junitxml: Logs for failed test are now passed to junit report in case the test fails during call phase.
diff --git a/src/_pytest/junitxml.py b/src/_pytest/junitxml.py
index 7858d8f3165..853dcb77449 100644
--- a/src/_pytest/junitxml.py
+++ b/src/_pytest/junitxml.py
@@ -597,6 +597,8 @@ def pytest_runtest_logreport(self, report):
             if report.when == "call":
                 reporter.append_failure(report)
                 self.open_reports.append(report)
+                if not self.log_passing_tests:
+                    reporter.write_captured_output(report)
             else:
                 reporter.append_error(report)
         elif report.skipped:
diff --git a/testing/test_junitxml.py b/testing/test_junitxml.py
index 7d6dfde9bc8..a08959c50f3 100644
--- a/testing/test_junitxml.py
+++ b/testing/test_junitxml.py
@@ -1409,3 +1409,45 @@ def test_func():
     node = dom.find_first_by_tag("testcase")
     assert len(node.find_by_tag("system-err")) == 0
     assert len(node.find_by_tag("system-out")) == 0
+
+
+@parametrize_families
+@pytest.mark.parametrize("junit_logging", ["no", "system-out", "system-err"])
+def test_logging_passing_tests_disabled_logs_output_for_failing_test_issue5430(
+    testdir, junit_logging, run_and_parse, xunit_family
+):
+    testdir.makeini(
+        """
+        [pytest]
+        junit_log_passing_tests=False
+        junit_family={family}
+    """.format(
+            family=xunit_family
+        )
+    )
+    testdir.makepyfile(
+        """
+        import pytest
+        import logging
+        import sys
+
+        def test_func():
+            logging.warning('hello')
+            assert 0
+    """
+    )
+    result, dom = run_and_parse(
+        "-o", "junit_logging=%s" % junit_logging, family=xunit_family
+    )
+    assert result.ret == 1
+    node = dom.find_first_by_tag("testcase")
+    if junit_logging == "system-out":
+        assert len(node.find_by_tag("system-err")) == 0
+        assert len(node.find_by_tag("system-out")) == 1
+    elif junit_logging == "system-err":
+        assert len(node.find_by_tag("system-err")) == 1
+        assert len(node.find_by_tag("system-out")) == 0
+    else:
+        assert junit_logging == "no"
+        assert len(node.find_by_tag("system-err")) == 0
+        assert len(node.find_by_tag("system-out")) == 0