diff --git a/scapy/layers/inet6.py b/scapy/layers/inet6.py
index 36eb3d9cf75..69a73bd3389 100644
--- a/scapy/layers/inet6.py
+++ b/scapy/layers/inet6.py
@@ -314,7 +314,7 @@ def default_payload_class(self, p):
             return Raw
         elif self.nh == 135 and len(p) > 3:  # Mobile IPv6
             return _mip6_mhtype2cls.get(p[2], MIP6MH_Generic)
-        elif self.nh == 43 and p[2] == 4:  # Segment Routing header
+        elif self.nh == 43 and len(p) > 2 and p[2] == 4:  # Segment Routing header
             return IPv6ExtHdrSegmentRouting
         return ipv6nhcls.get(self.nh, Raw)
 
diff --git a/test/scapy/layers/inet6.uts b/test/scapy/layers/inet6.uts
index 8fc0e99ef50..84ed827386c 100644
--- a/test/scapy/layers/inet6.uts
+++ b/test/scapy/layers/inet6.uts
@@ -124,6 +124,18 @@ assert len(p[IPv6ExtHdrSegmentRouting].addresses) == 3 and len(p[IPv6ExtHdrSegme
 s= raw(IPv6(src="fc00::1", dst="fd00::42")/IPv6ExtHdrSegmentRouting(addresses=["fd00::42", "fc13::1337"][::-1], segleft=1, lastentry=1) / UDP(sport=11000, dport=4242) / Raw('foobar'))
 assert s == b'`\x00\x00\x00\x006+@\xfc\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x01\xfd\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00B\x11\x04\x04\x01\x01\x00\x00\x00\xfc\x13\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x137\xfd\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00B*\xf8\x10\x92\x00\x0e\x81\xb7foobar'
 
+= IPv6ExtHdrSegmentRouting Class - truncated and valid routing header dissection (Issue #5206)
+p0 = IPv6(raw(IPv6(nh=43, plen=0)))
+with no_debug_dissector():
+    p1 = IPv6(raw(IPv6(nh=43, plen=1)) + b"\x00")
+    p2 = IPv6(raw(IPv6(nh=43, plen=2)) + b"\x00\x00")
+
+assert p0.nh == 43
+assert Raw in p1 and p1[Raw].load == b"\x00"
+assert Raw in p2 and p2[Raw].load == b"\x00\x00"
+p_srh = IPv6(raw(IPv6(nh=43, plen=8)) + b"\x3b\x00\x04\x00\x00\x00\x00\x00")
+assert IPv6ExtHdrSegmentRouting in p_srh
+
 
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