diff --git a/doc/changelog.rst b/doc/changelog.rst
index 9e1c65e10..b06bc8e11 100644
--- a/doc/changelog.rst
+++ b/doc/changelog.rst
@@ -4,7 +4,8 @@ Changelog
 Changes in Version 3.11.0b2.dev0
 --------------------------------
 
-Version 3.11 adds support for MongoDB 4.4. Highlights include:
+Version 3.11 adds support for MongoDB 4.4 and includes a number of bug fixes.
+Highlights include:
 
 - Support for :ref:`OCSP` (Online Certificate Status Protocol).
 - Support for `PyOpenSSL <https://pypi.org/project/pyOpenSSL/>`_ as an
@@ -52,6 +53,9 @@ Version 3.11 adds support for MongoDB 4.4. Highlights include:
 - Deprecated :meth:`pymongo.collection.Collection.reindex`. Use
   :meth:`~pymongo.database.Database.command` to run the ``reIndex`` command
   instead.
+- Fixed a bug in change streams that could cause PyMongo to miss some change
+  documents when resuming a stream that was started without a resume token and
+  whose first batch did not contain any change documents.
 
 Unavoidable breaking changes:
 
diff --git a/pymongo/change_stream.py b/pymongo/change_stream.py
index 08b2043de..f742e126c 100644
--- a/pymongo/change_stream.py
+++ b/pymongo/change_stream.py
@@ -125,7 +125,7 @@ class ChangeStream(object):
         if resume_token is not None:
             if self._uses_start_after:
                 options['startAfter'] = resume_token
-            if self._uses_resume_after:
+            else:
                 options['resumeAfter'] = resume_token
 
         if self._start_at_operation_time is not None:
@@ -149,17 +149,20 @@ class ChangeStream(object):
         return full_pipeline
 
     def _process_result(self, result, session, server, sock_info, slave_ok):
-        """Callback that caches the startAtOperationTime from a changeStream
-        aggregate command response containing an empty batch of change
-        documents.
+        """Callback that caches the postBatchResumeToken or
+        startAtOperationTime from a changeStream aggregate command response
+        containing an empty batch of change documents.
 
         This is implemented as a callback because we need access to the wire
         version in order to determine whether to cache this value.
         """
         if not result['cursor']['firstBatch']:
-            if (self._start_at_operation_time is None and
-                    self.resume_token is None and
-                    sock_info.max_wire_version >= 7):
+            if 'postBatchResumeToken' in result['cursor']:
+                self._resume_token = result['cursor']['postBatchResumeToken']
+            elif (self._start_at_operation_time is None and
+                  self._uses_resume_after is False and
+                  self._uses_start_after is False and
+                  sock_info.max_wire_version >= 7):
                 self._start_at_operation_time = result.get("operationTime")
                 # PYTHON-2181: informative error on missing operationTime.
                 if self._start_at_operation_time is None:
diff --git a/test/test_change_stream.py b/test/test_change_stream.py
index 7c55c6e96..862143a5d 100644
--- a/test/test_change_stream.py
+++ b/test/test_change_stream.py
@@ -127,7 +127,6 @@ class APITestsMixin(object):
             self.assertEqual([{'$project': {'foo': 0}}],
                              change_stream._pipeline)
             self.assertEqual('updateLookup', change_stream._full_document)
-            self.assertIsNone(change_stream.resume_token)
             self.assertEqual(1000, change_stream._max_await_time_ms)
             self.assertEqual(100, change_stream._batch_size)
             self.assertIsInstance(change_stream._cursor, CommandCursor)
@@ -472,8 +471,10 @@ class ProseSpecTestsMixin(object):
         listener is a WhiteListEventListener that listens for aggregate and
         getMore commands."""
         if previous_change is None or stream._cursor._has_next():
-            return self._get_expected_resume_token_legacy(
+            token = self._get_expected_resume_token_legacy(
                 stream, listener, previous_change)
+            if token is not None:
+                return token
 
         response = listener.results['succeeded'][-1].reply
         return response['cursor']['postBatchResumeToken']
@@ -1061,6 +1062,8 @@ class TestAllScenarios(unittest.TestCase):
         fail_point = scenario_dict.get("failPoint")
         if fail_point is None:
             return
+        elif not client_context.test_commands_enabled:
+            self.skipTest("Test commands must be enabled")
 
         fail_cmd = SON([('configureFailPoint', 'failCommand')])
         fail_cmd.update(fail_point)