diff --git a/plugins/openvr/src/OpenVrDisplayPlugin.cpp b/plugins/openvr/src/OpenVrDisplayPlugin.cpp
index 38719fdca5..1f6b11f862 100644
--- a/plugins/openvr/src/OpenVrDisplayPlugin.cpp
+++ b/plugins/openvr/src/OpenVrDisplayPlugin.cpp
@@ -122,7 +122,19 @@ void OpenVrDisplayPlugin::customizeContext() {
 void OpenVrDisplayPlugin::resetSensors() {
     Lock lock(_poseMutex);
     glm::mat4 m = toGlm(_trackedDevicePose[0].mDeviceToAbsoluteTracking);
+
+    glm::mat4 oldSensorResetMat = _sensorResetMat;
     _sensorResetMat = glm::inverse(cancelOutRollAndPitch(m));
+
+    glm::mat4 undoRedoMat = _sensorResetMat * glm::inverse(oldSensorResetMat);
+
+    // update the device poses, by undoing the previous sensorResetMatrix then applying the new one.
+    for (int i = 0; i < vr::k_unMaxTrackedDeviceCount; i++) {
+        _trackedDevicePoseMat4[i] = undoRedoMat * _trackedDevicePoseMat4[i];
+        _trackedDeviceLinearVelocities[i] = transformVectorFast(undoRedoMat, _trackedDeviceLinearVelocities[i]);
+        _trackedDeviceAngularVelocities[i] = transformVectorFast(undoRedoMat, _trackedDeviceAngularVelocities[i]);
+    }
+    _currentRenderFrameInfo.renderPose = _trackedDevicePoseMat4[vr::k_unTrackedDeviceIndex_Hmd];
 }