diff --git a/docs/CHANGELOG.md b/docs/CHANGELOG.md
index ee953dd3e..612a58fb2 100644
--- a/docs/CHANGELOG.md
+++ b/docs/CHANGELOG.md
@@ -10,6 +10,7 @@ sort: 14
 * FEATURE: add OpenTSDB migration option to vmctl. See more details [here](https://docs.victoriametrics.com/vmctl#migrating-data-from-opentsdb).
 Thanks to @johnseekins!
 
+* BUGFIX: vmagent: properly update `role: endpoints` and `role: endpointslices` scrape targets if the underlying service changes in `kubernetes_sd_config`. See [this issue](https://github.com/VictoriaMetrics/VictoriaMetrics/issues/1240).
 * BUGFIX: vmstorage: remove empty directories on startup. Such directories can be left after unclean shutdown on NFS storage. Previously such directories could lead to crashloop until manually removed. See [this issue](https://github.com/VictoriaMetrics/VictoriaMetrics/issues/1142).
 
 
diff --git a/lib/promscrape/discovery/kubernetes/api_watcher.go b/lib/promscrape/discovery/kubernetes/api_watcher.go
index 9e1c80830..ed654579a 100644
--- a/lib/promscrape/discovery/kubernetes/api_watcher.go
+++ b/lib/promscrape/discovery/kubernetes/api_watcher.go
@@ -301,6 +301,36 @@ func (gw *groupWatcher) getCachedObjectByRole(role, namespace, name string) obje
 	return nil
 }
 
+func (gw *groupWatcher) refreshObjectLabels(role, namespace, key string) {
+	// There is no need in starting url watcher for the given role,
+	// since there is no (namespace, key) object yet for this role.
+	// gw.startWatchersForRole(role, nil)
+	uws := gw.getURLWatchers()
+	for _, uw := range uws {
+		if uw.role != role {
+			// Role mismatch
+			continue
+		}
+		if uw.namespace != "" && uw.namespace != namespace {
+			// Namespace mismatch
+			continue
+		}
+		var aws []*apiWatcher
+		uw.mu.Lock()
+		o := uw.objectsByKey[key]
+		if o != nil {
+			aws = uw.getAPIWatchersLocked()
+		}
+		uw.mu.Unlock()
+		if len(aws) > 0 {
+			labels := o.getTargetLabels(gw)
+			for _, aw := range aws {
+				aw.setScrapeWorks(namespace, key, labels)
+			}
+		}
+	}
+}
+
 func (gw *groupWatcher) startWatchersForRole(role string, aw *apiWatcher) {
 	paths, namespaces := getAPIPathsWithNamespaces(role, gw.namespaces, gw.selectors)
 	for i, path := range paths {
@@ -515,10 +545,20 @@ func (uw *urlWatcher) reloadObjects() string {
 	uw.objectsAdded.Add(added)
 	uw.objectsCount.Add(added - removed)
 	uw.resourceVersion = metadata.ResourceVersion
-	aws := getAPIWatchers(uw.aws)
+	aws := uw.getAPIWatchersLocked()
 	uw.mu.Unlock()
 
 	uw.reloadScrapeWorksForAPIWatchers(aws, objectsByKey)
+	if uw.role == "service" {
+		// Update endpoints and endpointslices for the corresponding service as Prometheus does.
+		// See https://github.com/VictoriaMetrics/VictoriaMetrics/issues/1240
+		gw := uw.gw
+		namespace := uw.namespace
+		for key := range objectsByKey {
+			gw.refreshObjectLabels("endpoints", namespace, key)
+			gw.refreshObjectLabels("endpointslices", namespace, key)
+		}
+	}
 	logger.Infof("reloaded %d objects from %q", len(objectsByKey), requestURL)
 	return uw.resourceVersion
 }
@@ -545,7 +585,8 @@ func (uw *urlWatcher) reloadScrapeWorksForAPIWatchers(aws []*apiWatcher, objects
 	}
 }
 
-func getAPIWatchers(awsMap map[*apiWatcher]struct{}) []*apiWatcher {
+func (uw *urlWatcher) getAPIWatchersLocked() []*apiWatcher {
+	awsMap := uw.aws
 	aws := make([]*apiWatcher, 0, len(awsMap))
 	for aw := range awsMap {
 		aws = append(aws, aw)
@@ -636,11 +677,19 @@ func (uw *urlWatcher) readObjectUpdateStream(r io.Reader) error {
 				uw.objectsUpdated.Inc()
 			}
 			uw.objectsByKey[key] = o
-			aws := getAPIWatchers(uw.aws)
+			aws := uw.getAPIWatchersLocked()
 			uw.mu.Unlock()
-			labels := o.getTargetLabels(uw.gw)
-			for _, aw := range aws {
-				aw.setScrapeWorks(uw.namespace, key, labels)
+			if len(aws) > 0 {
+				labels := o.getTargetLabels(uw.gw)
+				for _, aw := range aws {
+					aw.setScrapeWorks(uw.namespace, key, labels)
+				}
+			}
+			if uw.role == "service" {
+				// Update endpoints and endpointslices for the corresponding service as Prometheus does.
+				// See https://github.com/VictoriaMetrics/VictoriaMetrics/issues/1240
+				uw.gw.refreshObjectLabels("endpoints", uw.namespace, key)
+				uw.gw.refreshObjectLabels("endpointslices", uw.namespace, key)
 			}
 		case "DELETED":
 			o, err := uw.parseObject(we.Object)
@@ -654,7 +703,7 @@ func (uw *urlWatcher) readObjectUpdateStream(r io.Reader) error {
 				uw.objectsRemoved.Inc()
 				delete(uw.objectsByKey, key)
 			}
-			aws := getAPIWatchers(uw.aws)
+			aws := uw.getAPIWatchersLocked()
 			uw.mu.Unlock()
 			for _, aw := range aws {
 				aw.removeScrapeWorks(uw.namespace, key)