diff --git a/cmd/kubeadm/app/constants/constants.go b/cmd/kubeadm/app/constants/constants.go
index f316b9db8ce..a11a800fcde 100644
--- a/cmd/kubeadm/app/constants/constants.go
+++ b/cmd/kubeadm/app/constants/constants.go
@@ -453,7 +453,8 @@ var (
 	MinimumControlPlaneVersion = getSkewedKubernetesVersion(-1)
 
 	// MinimumKubeletVersion specifies the minimum version of kubelet which kubeadm supports
-	MinimumKubeletVersion = getSkewedKubernetesVersion(-1)
+	// Refer to https://kubernetes.io/releases/version-skew-policy/#kubelet-1
+	MinimumKubeletVersion = getSkewedKubernetesVersion(-3)
 
 	// CurrentKubernetesVersion specifies current Kubernetes version supported by kubeadm
 	CurrentKubernetesVersion = getSkewedKubernetesVersion(0)
diff --git a/cmd/kubeadm/app/phases/upgrade/policy.go b/cmd/kubeadm/app/phases/upgrade/policy.go
index eed1ed5346e..d3723dbaf2f 100644
--- a/cmd/kubeadm/app/phases/upgrade/policy.go
+++ b/cmd/kubeadm/app/phases/upgrade/policy.go
@@ -35,7 +35,8 @@ const (
 	MaximumAllowedMinorVersionDowngradeSkew = 1
 
 	// MaximumAllowedMinorVersionKubeletSkew describes how many minor versions the control plane version and the kubelet can skew in a kubeadm cluster
-	MaximumAllowedMinorVersionKubeletSkew = 1
+	// Refer to https://kubernetes.io/releases/version-skew-policy/#kubelet-1
+	MaximumAllowedMinorVersionKubeletSkew = 3
 )
 
 // VersionSkewPolicyErrors describes version skew errors that might be seen during the validation process in EnforceVersionPolicies