diff --git a/packages/vee-validate/src/useForm.ts b/packages/vee-validate/src/useForm.ts
index 122fc6181..10224603c 100644
--- a/packages/vee-validate/src/useForm.ts
+++ b/packages/vee-validate/src/useForm.ts
@@ -292,6 +292,9 @@ export function useForm<TValues extends Record<string, any> = Record<string, any
 
   function registerField(field: PrivateFieldComposite) {
     fields.value.push(field);
+    // TODO: Do this automatically on registration
+    // eslint-disable-next-line no-unused-expressions
+    fieldsById.value; // force computation of the fields ids to properly set their idx
     if (isRef(field.name)) {
       valuesByFid[field.fid] = field.value.value;
       // ensures when a field's name was already taken that it preserves its same value
@@ -338,10 +341,17 @@ export function useForm<TValues extends Record<string, any> = Record<string, any
     // cleans up the field value from fid lookup
     nextTick(() => {
       delete valuesByFid[fid];
+      // clears a field error on unmounted
+      // we wait till next tick to make sure if the field is completely removed and doesn't have any siblings like checkboxes
+      // #3384
+      if (!fieldsById.value[fieldName]) {
+        setFieldError(fieldName, undefined);
+      }
     });
     const fieldName = unref(field.name);
     // in this case, this is a single field not a group (checkbox or radio)
     // so remove the field value key immediately
+
     if (field.idx === -1) {
       // avoid un-setting the value if the field was switched with another that shares the same name
       // they will be unset once the new field takes over the new name, look at `#registerField()`
@@ -353,6 +363,7 @@ export function useForm<TValues extends Record<string, any> = Record<string, any
 
       unsetPath(formValues, fieldName);
       unsetPath(initialValues.value, fieldName);
+
       return;
     }
 
diff --git a/packages/vee-validate/tests/Form.spec.ts b/packages/vee-validate/tests/Form.spec.ts
index 1b6b6715d..539f522c6 100644
--- a/packages/vee-validate/tests/Form.spec.ts
+++ b/packages/vee-validate/tests/Form.spec.ts
@@ -2115,4 +2115,32 @@ describe('<Form />', () => {
     // field was re-checked
     expect(span.textContent).toBe('');
   });
+
+  test('field errors should be removed when its unmounted', async () => {
+    const isShown = ref(true);
+    const wrapper = mountWithHoc({
+      setup() {
+        return {
+          isShown,
+        };
+      },
+      template: `
+      <VForm v-slot="{ errors }">
+        <Field v-if="isShown" name="fname"  rules="required"/>
+        <span>{{ errors.fname }}</span>
+      </VForm>
+    `,
+    });
+
+    await flushPromises();
+    const span = wrapper.$el.querySelector('span');
+    setValue(wrapper.$el.querySelector('input'), '');
+    await flushPromises();
+    expect(span.textContent).toBe(REQUIRED_MESSAGE);
+    isShown.value = false;
+
+    await flushPromises();
+    // field was re-checked
+    expect(span.textContent).toBe('');
+  });
 });