diff --git a/config/config_test.go b/config/config_test.go
index 968b563e1e..0ded7b079e 100644
--- a/config/config_test.go
+++ b/config/config_test.go
@@ -2315,7 +2315,7 @@ var expectedErrors = []struct {
 	},
 	{
 		filename: "kubernetes_selectors_pod.bad.yml",
-		errMsg:   "pod role supports only pod selectors",
+		errMsg:   "pod role supports only pod, node selectors",
 	},
 	{
 		filename: "kubernetes_selectors_service.bad.yml",
diff --git a/config/testdata/kubernetes_selectors_pod.bad.yml b/config/testdata/kubernetes_selectors_pod.bad.yml
index 3a1a83abd2..24285c0ce0 100644
--- a/config/testdata/kubernetes_selectors_pod.bad.yml
+++ b/config/testdata/kubernetes_selectors_pod.bad.yml
@@ -6,3 +6,6 @@ scrape_configs:
           - role: "node"
             label: "foo=bar"
             field: "metadata.status=Running"
+          - role: "service"
+            label: "baz=que"
+            field: "metadata.status=Running"
diff --git a/config/testdata/kubernetes_selectors_pod.good.yml b/config/testdata/kubernetes_selectors_pod.good.yml
index 91da6ada17..49c17d72ce 100644
--- a/config/testdata/kubernetes_selectors_pod.good.yml
+++ b/config/testdata/kubernetes_selectors_pod.good.yml
@@ -11,3 +11,8 @@ scrape_configs:
           - role: "pod"
             label: "foo in (bar,baz)"
             field: "metadata.status=Running"
+      - role: pod
+        selectors:
+          - role: "node"
+            label: "foo=bar"
+            field: "metadata.status=Running"
diff --git a/discovery/kubernetes/kubernetes.go b/discovery/kubernetes/kubernetes.go
index 678f287ef5..6bbbafe8ea 100644
--- a/discovery/kubernetes/kubernetes.go
+++ b/discovery/kubernetes/kubernetes.go
@@ -194,7 +194,7 @@ func (c *SDConfig) UnmarshalYAML(unmarshal func(any) error) error {
 
 	foundSelectorRoles := make(map[Role]struct{})
 	allowedSelectors := map[Role][]string{
-		RolePod:           {string(RolePod)},
+		RolePod:           {string(RolePod), string(RoleNode)},
 		RoleService:       {string(RoleService)},
 		RoleEndpointSlice: {string(RolePod), string(RoleService), string(RoleEndpointSlice)},
 		RoleEndpoint:      {string(RolePod), string(RoleService), string(RoleEndpoint)},
diff --git a/discovery/kubernetes/pod.go b/discovery/kubernetes/pod.go
index 1fed78b3a7..05b778bb59 100644
--- a/discovery/kubernetes/pod.go
+++ b/discovery/kubernetes/pod.go
@@ -286,6 +286,19 @@ func (p *Pod) buildPod(pod *apiv1.Pod) *targetgroup.Group {
 		return tg
 	}
 
+	// Filter out pods scheduled on nodes that are not in the node store, as
+	// these were filtered out by node selectors.
+	if p.withNodeMetadata {
+		_, exists, err := p.nodeInf.GetStore().GetByKey(pod.Spec.NodeName)
+		if err != nil {
+			p.logger.Error("failed to get node from store", "node", pod.Spec.NodeName, "err", err)
+			return tg
+		}
+		if !exists {
+			return tg
+		}
+	}
+
 	tg.Labels = podLabels(pod)
 	tg.Labels[namespaceLabel] = lv(pod.Namespace)
 	if p.withNodeMetadata {
diff --git a/discovery/kubernetes/pod_test.go b/discovery/kubernetes/pod_test.go
index db5db546d0..df8f42fcd3 100644
--- a/discovery/kubernetes/pod_test.go
+++ b/discovery/kubernetes/pod_test.go
@@ -627,3 +627,74 @@ func TestPodDiscoveryWithUpdatedNamespaceMetadata(t *testing.T) {
 		},
 	}.Run(t)
 }
+
+func TestPodDiscoveryWithNodeSelector(t *testing.T) {
+	t.Parallel()
+
+	workerNode := makeNode("worker-node", "10.0.0.1", "", map[string]string{"node-type": "worker"}, nil)
+	filteredNode := makeNode("filtered-node", "10.0.0.2", "", map[string]string{"node-type": "master"}, nil)
+
+	attachMetadata := AttachMetadataConfig{
+		Node: true, // necessary for node role selectos to work for pod role
+	}
+	n, c := makeDiscoveryWithMetadata(RolePod, NamespaceDiscovery{}, attachMetadata, workerNode, filteredNode)
+	n.selectors = roleSelector{
+		node: resourceSelector{
+			label: "node-type=worker",
+		},
+	}
+
+	podOnWorker := makePods("default")
+	podOnWorker.Name = "pod-on-worker"
+	podOnWorker.UID = types.UID("worker-pod-123")
+	podOnWorker.Spec.NodeName = "worker-node"
+	podOnWorker.Status.PodIP = "192.168.1.1"
+
+	podOnFilteredNode := makePods("default")
+	podOnFilteredNode.Name = "pod-on-filtered-node"
+	podOnFilteredNode.UID = types.UID("filtered-pod-456")
+	podOnFilteredNode.Spec.NodeName = "filtered-node"
+	podOnFilteredNode.Status.PodIP = "192.168.1.2"
+
+	k8sDiscoveryTest{
+		discovery: n,
+		beforeRun: func() {
+			c.CoreV1().Pods("default").Create(context.Background(), podOnWorker, metav1.CreateOptions{})
+			c.CoreV1().Pods("default").Create(context.Background(), podOnFilteredNode, metav1.CreateOptions{})
+		},
+		expectedMaxItems: 2,
+		expectedRes: map[string]*targetgroup.Group{
+			"pod/default/pod-on-worker": {
+				Targets: []model.LabelSet{
+					{
+						"__address__":                                   "192.168.1.1:9000",
+						"__meta_kubernetes_pod_container_image":         "testcontainer:latest",
+						"__meta_kubernetes_pod_container_name":          "testcontainer",
+						"__meta_kubernetes_pod_container_port_name":     "testport",
+						"__meta_kubernetes_pod_container_port_number":   "9000",
+						"__meta_kubernetes_pod_container_port_protocol": "TCP",
+						"__meta_kubernetes_pod_container_init":          "false",
+						"__meta_kubernetes_pod_container_id":            "docker://a1b2c3d4e5f6",
+					},
+				},
+				Labels: model.LabelSet{
+					"__meta_kubernetes_namespace":                   "default",
+					"__meta_kubernetes_pod_name":                    "pod-on-worker",
+					"__meta_kubernetes_pod_ip":                      "192.168.1.1",
+					"__meta_kubernetes_pod_ready":                   "true",
+					"__meta_kubernetes_pod_phase":                   "Running",
+					"__meta_kubernetes_pod_node_name":               "worker-node",
+					"__meta_kubernetes_pod_host_ip":                 "2.3.4.5",
+					"__meta_kubernetes_pod_uid":                     "worker-pod-123",
+					"__meta_kubernetes_node_name":                   "worker-node",
+					"__meta_kubernetes_node_label_node_type":        "worker",
+					"__meta_kubernetes_node_labelpresent_node_type": "true",
+				},
+				Source: "pod/default/pod-on-worker",
+			},
+			"pod/default/pod-on-filtered-node": {
+				Source: "pod/default/pod-on-filtered-node",
+			},
+		},
+	}.Run(t)
+}