diff --git a/changelogs/fragments/756-fix-daemonset-waiting.yaml b/changelogs/fragments/756-fix-daemonset-waiting.yaml
new file mode 100644
index 0000000000..e186e5ef62
--- /dev/null
+++ b/changelogs/fragments/756-fix-daemonset-waiting.yaml
@@ -0,0 +1,2 @@
+bugfixes:
+  - waiter - Fix waiting for daemonset when desired number of pods is 0. (https://github.com/ansible-collections/kubernetes.core/pull/756).
diff --git a/plugins/module_utils/k8s/waiter.py b/plugins/module_utils/k8s/waiter.py
index 5328d63180..16ee10dda5 100644
--- a/plugins/module_utils/k8s/waiter.py
+++ b/plugins/module_utils/k8s/waiter.py
@@ -51,7 +51,7 @@ def daemonset_ready(daemonset: ResourceInstance) -> bool:
     return bool(
         daemonset.status
         and daemonset.status.desiredNumberScheduled is not None
-        and daemonset.status.updatedNumberScheduled
+        and (daemonset.status.updatedNumberScheduled or 0)
         == daemonset.status.desiredNumberScheduled
         and daemonset.status.numberReady == daemonset.status.desiredNumberScheduled
         and daemonset.status.observedGeneration == daemonset.metadata.generation
diff --git a/tests/integration/targets/k8s_waiter/defaults/main.yml b/tests/integration/targets/k8s_waiter/defaults/main.yml
index 04c873ce36..002c00238c 100644
--- a/tests/integration/targets/k8s_waiter/defaults/main.yml
+++ b/tests/integration/targets/k8s_waiter/defaults/main.yml
@@ -5,6 +5,7 @@ k8s_pod_metadata:
 
 k8s_pod_spec:
   serviceAccount: "{{ k8s_pod_service_account }}"
+  nodeSelector: "{{ k8s_pod_node_selector }}"
   containers:
     - image: "{{ k8s_pod_image }}"
       imagePullPolicy: Always
@@ -33,6 +34,8 @@ k8s_pod_ports: []
 
 k8s_pod_env: []
 
+k8s_pod_node_selector: {}
+
 k8s_pod_template:
   metadata: "{{ k8s_pod_metadata }}"
   spec: "{{ k8s_pod_spec }}"
diff --git a/tests/integration/targets/k8s_waiter/tasks/main.yml b/tests/integration/targets/k8s_waiter/tasks/main.yml
index 1cb7e4c405..3bfb668bb6 100644
--- a/tests/integration/targets/k8s_waiter/tasks/main.yml
+++ b/tests/integration/targets/k8s_waiter/tasks/main.yml
@@ -127,6 +127,48 @@
           - ds.result.status.currentNumberScheduled == ds.result.status.desiredNumberScheduled
           - updated_ds_pods.resources[0].spec.containers[0].image.endswith(":3")
 
+    - name: Create daemonset with nodeSelector and not existing label
+      k8s:
+        definition:
+          apiVersion: apps/v1
+          kind: DaemonSet
+          metadata:
+            name: wait-daemonset-not-existing-label
+            namespace: "{{ wait_namespace }}"
+          spec:
+            selector:
+              matchLabels:
+                app: "{{ k8s_pod_name }}"
+            template: "{{ k8s_pod_template }}"
+        wait: yes
+        wait_sleep: 5
+        wait_timeout: "{{ k8s_wait_timeout | default(omit) }}"
+      vars:
+        k8s_pod_name: wait-daemonset-not-existing-label
+        k8s_pod_image: gcr.io/kuar-demo/kuard-amd64:1
+        k8s_pod_command:
+          - sleep
+          - "600"
+        k8s_pod_node_selector:
+          nonExisitingLabel: test-not-exiting-label
+      register: ds_not_existing_label
+
+    - name: Get updated pods
+      k8s_info:
+        api_version: v1
+        kind: Pod
+        namespace: "{{ wait_namespace }}"
+        label_selectors:
+          - app=wait-daemonset-not-existing-label
+      register: updated_ds_pods_not_existing_label
+
+    - name: Check that daemonset wait worked (when desired number is 0)
+      assert:
+        that:
+          - ds_not_existing_label.result.status.currentNumberScheduled == ds_not_existing_label.result.status.desiredNumberScheduled
+          - ds_not_existing_label.result.status.desiredNumberScheduled == 0
+          - updated_ds_pods_not_existing_label.resources | length == 0
+
     - name: Add a statefulset
       k8s:
         definition: