diff --git a/src/avalanche/peermanager.h b/src/avalanche/peermanager.h
--- a/src/avalanche/peermanager.h
+++ b/src/avalanche/peermanager.h
@@ -30,6 +30,8 @@
 #include <unordered_set>
 #include <vector>
 
+class CScheduler;
+
 namespace avalanche {
 
 /**
@@ -224,6 +226,8 @@
     uint32_t connectedPeersScore = 0;
 
 public:
+    PeerManager(CScheduler &scheduler);
+
     /**
      * Node API.
      */
diff --git a/src/avalanche/peermanager.cpp b/src/avalanche/peermanager.cpp
--- a/src/avalanche/peermanager.cpp
+++ b/src/avalanche/peermanager.cpp
@@ -8,12 +8,21 @@
 #include <avalanche/delegation.h>
 #include <avalanche/validation.h>
 #include <random.h>
+#include <scheduler.h>
 #include <validation.h> // For ChainstateActive()
 
 #include <algorithm>
 #include <cassert>
 
 namespace avalanche {
+PeerManager::PeerManager(CScheduler &scheduler) {
+    scheduler.scheduleEvery(
+        [this]() -> bool {
+            this->cleanupDanglingProofs();
+            return true;
+        },
+        5min);
+}
 
 bool PeerManager::addNode(NodeId nodeid, const ProofId &proofid) {
     auto &pview = peers.get<by_proofid>();
diff --git a/src/avalanche/processor.h b/src/avalanche/processor.h
--- a/src/avalanche/processor.h
+++ b/src/avalanche/processor.h
@@ -174,8 +174,9 @@
     std::unique_ptr<interfaces::Handler> chainNotificationsHandler;
 
     Processor(const ArgsManager &argsman, interfaces::Chain &chain,
-              CConnman *connmanIn, std::unique_ptr<PeerData> peerDataIn,
-              CKey sessionKeyIn, uint32_t minQuorumTotalScoreIn,
+              CConnman *connmanIn, CScheduler &scheduler,
+              std::unique_ptr<PeerData> peerDataIn, CKey sessionKeyIn,
+              uint32_t minQuorumTotalScoreIn,
               double minQuorumConnectedScoreRatioIn,
               int64_t minAvaproofsNodeCountIn, uint32_t staleVoteThresholdIn,
               uint32_t staleVoteFactorIn);
@@ -186,6 +187,7 @@
     static std::unique_ptr<Processor> MakeProcessor(const ArgsManager &argsman,
                                                     interfaces::Chain &chain,
                                                     CConnman *connman,
+                                                    CScheduler &scheduler,
                                                     bilingual_str &error);
 
     void setQueryTimeoutDuration(std::chrono::milliseconds d) {
diff --git a/src/avalanche/processor.cpp b/src/avalanche/processor.cpp
--- a/src/avalanche/processor.cpp
+++ b/src/avalanche/processor.cpp
@@ -121,15 +121,16 @@
 };
 
 Processor::Processor(const ArgsManager &argsman, interfaces::Chain &chain,
-                     CConnman *connmanIn, std::unique_ptr<PeerData> peerDataIn,
-                     CKey sessionKeyIn, uint32_t minQuorumTotalScoreIn,
+                     CConnman *connmanIn, CScheduler &scheduler,
+                     std::unique_ptr<PeerData> peerDataIn, CKey sessionKeyIn,
+                     uint32_t minQuorumTotalScoreIn,
                      double minQuorumConnectedScoreRatioIn,
                      int64_t minAvaproofsNodeCountIn,
                      uint32_t staleVoteThresholdIn, uint32_t staleVoteFactorIn)
     : connman(connmanIn),
       queryTimeoutDuration(argsman.GetArg(
           "-avatimeout", AVALANCHE_DEFAULT_QUERY_TIMEOUT.count())),
-      round(0), peerManager(std::make_unique<PeerManager>()),
+      round(0), peerManager(std::make_unique<PeerManager>(scheduler)),
       peerData(std::move(peerDataIn)), sessionKey(std::move(sessionKeyIn)),
       minQuorumScore(minQuorumTotalScoreIn),
       minQuorumConnectedScoreRatio(minQuorumConnectedScoreRatioIn),
@@ -149,6 +150,7 @@
 std::unique_ptr<Processor> Processor::MakeProcessor(const ArgsManager &argsman,
                                                     interfaces::Chain &chain,
                                                     CConnman *connman,
+                                                    CScheduler &scheduler,
                                                     bilingual_str &error) {
     std::unique_ptr<PeerData> peerData;
     CKey masterKey;
@@ -308,9 +310,10 @@
 
     // We can't use std::make_unique with a private constructor
     return std::unique_ptr<Processor>(new Processor(
-        argsman, chain, connman, std::move(peerData), std::move(sessionKey),
-        Proof::amountToScore(minQuorumStake), minQuorumConnectedStakeRatio,
-        minAvaproofsNodeCount, staleVoteThreshold, staleVoteFactor));
+        argsman, chain, connman, scheduler, std::move(peerData),
+        std::move(sessionKey), Proof::amountToScore(minQuorumStake),
+        minQuorumConnectedStakeRatio, minAvaproofsNodeCount, staleVoteThreshold,
+        staleVoteFactor));
 }
 
 bool Processor::addBlockToReconcile(const CBlockIndex *pindex) {
diff --git a/src/avalanche/test/peermanager_tests.cpp b/src/avalanche/test/peermanager_tests.cpp
--- a/src/avalanche/test/peermanager_tests.cpp
+++ b/src/avalanche/test/peermanager_tests.cpp
@@ -290,7 +290,7 @@
 
 BOOST_AUTO_TEST_CASE(peer_probabilities) {
     // No peers.
-    avalanche::PeerManager pm;
+    avalanche::PeerManager pm(*m_node.scheduler);
     BOOST_CHECK_EQUAL(pm.selectNode(), NO_NODE);
 
     const NodeId node0 = 42, node1 = 69, node2 = 37;
@@ -326,7 +326,7 @@
 
 BOOST_AUTO_TEST_CASE(remove_peer) {
     // No peers.
-    avalanche::PeerManager pm;
+    avalanche::PeerManager pm(*m_node.scheduler);
     BOOST_CHECK_EQUAL(pm.selectPeer(), NO_PEER);
 
     // Add 4 peers.
@@ -401,7 +401,7 @@
 }
 
 BOOST_AUTO_TEST_CASE(compact_slots) {
-    avalanche::PeerManager pm;
+    avalanche::PeerManager pm(*m_node.scheduler);
 
     // Add 4 peers.
     std::array<PeerId, 4> peerids;
@@ -430,7 +430,7 @@
 }
 
 BOOST_AUTO_TEST_CASE(node_crud) {
-    avalanche::PeerManager pm;
+    avalanche::PeerManager pm(*m_node.scheduler);
 
     // Create one peer.
     auto proof = buildRandomProof(10000000 * MIN_VALID_PROOF_SCORE);
@@ -490,7 +490,7 @@
 }
 
 BOOST_AUTO_TEST_CASE(node_binding) {
-    avalanche::PeerManager pm;
+    avalanche::PeerManager pm(*m_node.scheduler);
 
     auto proof = buildRandomProof(MIN_VALID_PROOF_SCORE);
     const ProofId &proofid = proof->getId();
@@ -589,7 +589,7 @@
 }
 
 BOOST_AUTO_TEST_CASE(node_binding_reorg) {
-    avalanche::PeerManager pm;
+    avalanche::PeerManager pm(*m_node.scheduler);
 
     auto key = CKey::MakeCompressedKey();
 
@@ -656,7 +656,7 @@
         addCoin({txid2, i}, key);
     }
 
-    avalanche::PeerManager pm;
+    avalanche::PeerManager pm(*m_node.scheduler);
     CKey masterKey = CKey::MakeCompressedKey();
     const auto getPeerId = [&](const std::vector<COutPoint> &outpoints) {
         return TestPeerManager::registerAndGetPeerId(
@@ -710,7 +710,7 @@
 
 BOOST_AUTO_TEST_CASE(orphan_proofs) {
     gArgs.ForceSetArg("-avaproofstakeutxoconfirmations", "2");
-    avalanche::PeerManager pm;
+    avalanche::PeerManager pm(*m_node.scheduler);
 
     auto key = CKey::MakeCompressedKey();
 
@@ -899,7 +899,7 @@
 }
 
 BOOST_AUTO_TEST_CASE(dangling_node) {
-    avalanche::PeerManager pm;
+    avalanche::PeerManager pm(*m_node.scheduler);
 
     auto proof = buildRandomProof(MIN_VALID_PROOF_SCORE);
     PeerId peerid = TestPeerManager::registerAndGetPeerId(pm, proof);
@@ -944,7 +944,7 @@
 }
 
 BOOST_AUTO_TEST_CASE(proof_accessors) {
-    avalanche::PeerManager pm;
+    avalanche::PeerManager pm(*m_node.scheduler);
 
     constexpr int numProofs = 10;
 
@@ -988,7 +988,7 @@
 }
 
 BOOST_FIXTURE_TEST_CASE(conflicting_proof_rescan, NoCoolDownFixture) {
-    avalanche::PeerManager pm;
+    avalanche::PeerManager pm(*m_node.scheduler);
 
     const CKey key = CKey::MakeCompressedKey();
 
@@ -1043,7 +1043,7 @@
         BOOST_CHECK_EQUAL(comparator(candidate, reference), expectAccepted);
         BOOST_CHECK_EQUAL(comparator(reference, candidate), !expectAccepted);
 
-        avalanche::PeerManager pm;
+        avalanche::PeerManager pm(*m_node.scheduler);
         BOOST_CHECK(pm.registerProof(reference));
         BOOST_CHECK(pm.isBoundToPeer(reference->getId()));
 
@@ -1113,7 +1113,7 @@
 }
 
 BOOST_AUTO_TEST_CASE(conflicting_orphans) {
-    avalanche::PeerManager pm;
+    avalanche::PeerManager pm(*m_node.scheduler);
 
     const CKey key = CKey::MakeCompressedKey();
 
@@ -1160,7 +1160,7 @@
 }
 
 BOOST_FIXTURE_TEST_CASE(preferred_conflicting_proof, NoCoolDownFixture) {
-    avalanche::PeerManager pm;
+    avalanche::PeerManager pm(*m_node.scheduler);
 
     const CKey key = CKey::MakeCompressedKey();
     const COutPoint conflictingOutpoint = createUtxo(key);
@@ -1191,7 +1191,7 @@
 }
 
 BOOST_FIXTURE_TEST_CASE(update_next_conflict_time, NoCoolDownFixture) {
-    avalanche::PeerManager pm;
+    avalanche::PeerManager pm(*m_node.scheduler);
 
     auto now = GetTime<std::chrono::seconds>();
     SetMockTime(now.count());
@@ -1224,7 +1224,7 @@
 }
 
 BOOST_FIXTURE_TEST_CASE(register_force_accept, NoCoolDownFixture) {
-    avalanche::PeerManager pm;
+    avalanche::PeerManager pm(*m_node.scheduler);
 
     const CKey key = CKey::MakeCompressedKey();
 
@@ -1288,7 +1288,7 @@
 }
 
 BOOST_FIXTURE_TEST_CASE(evicted_proof, NoCoolDownFixture) {
-    avalanche::PeerManager pm;
+    avalanche::PeerManager pm(*m_node.scheduler);
 
     const CKey key = CKey::MakeCompressedKey();
 
@@ -1318,7 +1318,7 @@
 }
 
 BOOST_AUTO_TEST_CASE(conflicting_proof_cooldown) {
-    avalanche::PeerManager pm;
+    avalanche::PeerManager pm(*m_node.scheduler);
 
     const CKey key = CKey::MakeCompressedKey();
 
@@ -1386,7 +1386,7 @@
 }
 
 BOOST_FIXTURE_TEST_CASE(reject_proof, NoCoolDownFixture) {
-    avalanche::PeerManager pm;
+    avalanche::PeerManager pm(*m_node.scheduler);
 
     const CKey key = CKey::MakeCompressedKey();
 
@@ -1461,7 +1461,7 @@
 }
 
 BOOST_AUTO_TEST_CASE(should_request_more_nodes) {
-    avalanche::PeerManager pm;
+    avalanche::PeerManager pm(*m_node.scheduler);
 
     auto proof = buildRandomProof(MIN_VALID_PROOF_SCORE);
     BOOST_CHECK(pm.registerProof(proof));
@@ -1509,7 +1509,7 @@
 }
 
 BOOST_AUTO_TEST_CASE(score_ordering) {
-    avalanche::PeerManager pm;
+    avalanche::PeerManager pm(*m_node.scheduler);
 
     std::vector<uint32_t> expectedScores(10);
     // Expect the peers to be ordered by descending score
@@ -1535,7 +1535,7 @@
 
 BOOST_FIXTURE_TEST_CASE(known_score_tracking, NoCoolDownFixture) {
     gArgs.ForceSetArg("-avaproofstakeutxoconfirmations", "2");
-    avalanche::PeerManager pm;
+    avalanche::PeerManager pm(*m_node.scheduler);
 
     const CKey key = CKey::MakeCompressedKey();
 
@@ -1645,7 +1645,7 @@
 }
 
 BOOST_AUTO_TEST_CASE(connected_score_tracking) {
-    avalanche::PeerManager pm;
+    avalanche::PeerManager pm(*m_node.scheduler);
 
     const auto checkScores = [&pm](uint32_t known, uint32_t connected) {
         BOOST_CHECK_EQUAL(pm.getTotalPeersScore(), known);
@@ -1733,7 +1733,7 @@
 }
 
 BOOST_FIXTURE_TEST_CASE(proof_radix_tree, NoCoolDownFixture) {
-    avalanche::PeerManager pm;
+    avalanche::PeerManager pm(*m_node.scheduler);
 
     gArgs.ForceSetArg("-enableavalancheproofreplacement", "1");
 
@@ -1849,7 +1849,7 @@
 }
 
 BOOST_AUTO_TEST_CASE(received_avaproofs) {
-    avalanche::PeerManager pm;
+    avalanche::PeerManager pm(*m_node.scheduler);
 
     auto addNode = [&](NodeId nodeid) {
         auto proof = buildRandomProof(MIN_VALID_PROOF_SCORE);
@@ -1872,7 +1872,7 @@
 BOOST_FIXTURE_TEST_CASE(cleanup_dangling_proof, NoCoolDownFixture) {
     gArgs.ForceSetArg("-enableavalancheproofreplacement", "1");
 
-    avalanche::PeerManager pm;
+    avalanche::PeerManager pm(*m_node.scheduler);
 
     const auto now = GetTime<std::chrono::seconds>();
     auto mocktime = now;
diff --git a/src/avalanche/test/processor_tests.cpp b/src/avalanche/test/processor_tests.cpp
--- a/src/avalanche/test/processor_tests.cpp
+++ b/src/avalanche/test/processor_tests.cpp
@@ -107,7 +107,8 @@
         // Get the processor ready.
         bilingual_str error;
         m_processor = Processor::MakeProcessor(*m_node.args, *m_node.chain,
-                                               m_node.connman.get(), error);
+                                               m_node.connman.get(),
+                                               *m_node.scheduler, error);
         BOOST_CHECK(m_processor);
 
         gArgs.ForceSetArg("-avaproofstakeutxoconfirmations", "1");
@@ -1143,7 +1144,8 @@
 
     bilingual_str error;
     std::unique_ptr<Processor> processor = Processor::MakeProcessor(
-        *m_node.args, *m_node.chain, m_node.connman.get(), error);
+        *m_node.args, *m_node.chain, m_node.connman.get(), *m_node.scheduler,
+        error);
 
     BOOST_CHECK(processor != nullptr);
     BOOST_CHECK(processor->getLocalProof() != nullptr);
@@ -1291,7 +1293,8 @@
 
         bilingual_str error;
         std::unique_ptr<Processor> processor = Processor::MakeProcessor(
-            *m_node.args, *m_node.chain, m_node.connman.get(), error);
+            *m_node.args, *m_node.chain, m_node.connman.get(),
+            *m_node.scheduler, error);
 
         if (std::get<3>(*it)) {
             BOOST_CHECK(processor != nullptr);
@@ -1320,7 +1323,8 @@
 
         bilingual_str error;
         auto processor = Processor::MakeProcessor(argsman, *m_node.chain,
-                                                  m_node.connman.get(), error);
+                                                  m_node.connman.get(),
+                                                  *m_node.scheduler, error);
 
         BOOST_CHECK_EQUAL(processor->isQuorumEstablished(),
                           minAvaproofsMessages <= 0);
@@ -1375,7 +1379,8 @@
 
     bilingual_str error;
     m_processor = Processor::MakeProcessor(*m_node.args, *m_node.chain,
-                                           m_node.connman.get(), error);
+                                           m_node.connman.get(),
+                                           *m_node.scheduler, error);
 
     BOOST_CHECK(m_processor != nullptr);
     BOOST_CHECK(error.empty());
diff --git a/src/avalanche/test/proofpool_tests.cpp b/src/avalanche/test/proofpool_tests.cpp
--- a/src/avalanche/test/proofpool_tests.cpp
+++ b/src/avalanche/test/proofpool_tests.cpp
@@ -77,7 +77,7 @@
 BOOST_AUTO_TEST_CASE(rescan) {
     gArgs.ForceSetArg("-avaproofstakeutxoconfirmations", "1");
     ProofPool testPool;
-    avalanche::PeerManager pm;
+    avalanche::PeerManager pm(*m_node.scheduler);
 
     testPool.rescan(pm);
     BOOST_CHECK_EQUAL(testPool.size(), 0);
diff --git a/src/init.cpp b/src/init.cpp
--- a/src/init.cpp
+++ b/src/init.cpp
@@ -2569,7 +2569,7 @@
     // Step 6.5 (I guess ?): Initialize Avalanche.
     bilingual_str avalancheError;
     g_avalanche = avalanche::Processor::MakeProcessor(
-        args, *node.chain, node.connman.get(), avalancheError);
+        args, *node.chain, node.connman.get(), *node.scheduler, avalancheError);
     if (!g_avalanche) {
         InitError(avalancheError);
         return false;
diff --git a/test/functional/abc_feature_proof_cleanup.py b/test/functional/abc_feature_proof_cleanup.py
new file mode 100644
--- /dev/null
+++ b/test/functional/abc_feature_proof_cleanup.py
@@ -0,0 +1,96 @@
+#!/usr/bin/env python3
+# Copyright (c) 2022 The Bitcoin developers
+# Distributed under the MIT software license, see the accompanying
+# file COPYING or http://www.opensource.org/licenses/mit-license.php.
+"""
+Test the dangling proofs cleanup
+"""
+
+import time
+
+from test_framework.avatools import (
+    gen_proof,
+    get_ava_p2p_interface,
+    get_proof_ids,
+)
+from test_framework.test_framework import BitcoinTestFramework
+from test_framework.util import assert_equal
+
+# Interval between 2 proof cleanups
+AVALANCHE_CLEANUP_INTERVAL = 5 * 60
+# Dangling proof timeout
+AVALANCHE_DANGLING_PROOF_TIMEOUT = 15 * 60
+
+
+class ProofsCleanupTest(BitcoinTestFramework):
+    def set_test_params(self):
+        self.num_nodes = 1
+        self.extra_args = [[
+            '-enableavalanche=1',
+            '-avaproofstakeutxoconfirmations=1',
+        ]] * self.num_nodes
+
+    def run_test(self):
+        node = self.nodes[0]
+
+        mocktime = int(time.time())
+        node.setmocktime(mocktime)
+
+        proofs = []
+        peers = []
+        # The first 5 peers have a node attached
+        for _ in range(5):
+            key, proof = gen_proof(node)
+
+            peer = get_ava_p2p_interface(node)
+            node.addavalanchenode(
+                peer.nodeid,
+                key.get_pubkey().get_bytes().hex(),
+                proof.serialize().hex())
+
+            proofs.append(proof)
+            peers.append(peer)
+
+        # The last 5 peers have no node attached
+        for _ in range(5):
+            _, proof = gen_proof(node)
+            node.sendavalancheproof(proof.serialize().hex())
+            proofs.append(proof)
+
+        peer_info = node.getavalanchepeerinfo()
+        assert_equal(len(peer_info), 10)
+        assert_equal(set(get_proof_ids(node)),
+                     set([proof.proofid for proof in proofs]))
+
+        self.log.info("No proof is cleaned before the timeout expires")
+
+        mocktime += AVALANCHE_DANGLING_PROOF_TIMEOUT - 1
+        node.setmocktime(mocktime)
+        # Run the cleanup, the proofs are still there
+        node.mockscheduler(AVALANCHE_CLEANUP_INTERVAL)
+        assert_equal(len(peer_info), 10)
+
+        self.log.info("Check the proofs with attached nodes are not cleaned")
+
+        # Expire the dangling proof timeout
+        mocktime += 1
+        node.setmocktime(mocktime)
+
+        # Run the cleanup, the proofs with no node are cleaned
+        node.mockscheduler(AVALANCHE_CLEANUP_INTERVAL)
+        self.wait_until(lambda: set(get_proof_ids(node)) == set(
+            [proof.proofid for proof in proofs[:5]]), timeout=5)
+
+        self.log.info(
+            "Check the proofs are cleaned on next cleanup after the nodes disconnected")
+
+        for peer in peers:
+            peer.peer_disconnect()
+            peer.wait_for_disconnect()
+
+        node.mockscheduler(AVALANCHE_CLEANUP_INTERVAL)
+        self.wait_until(lambda: get_proof_ids(node) == [])
+
+
+if __name__ == '__main__':
+    ProofsCleanupTest().main()
diff --git a/test/functional/test_runner.py b/test/functional/test_runner.py
--- a/test/functional/test_runner.py
+++ b/test/functional/test_runner.py
@@ -129,6 +129,7 @@
     "wallet_watchonly.py": [["--usecli"]],
 
     # Avalanche tests running with and without the legacy proof format
+    "abc_feature_proof_cleanup.py": [["--nolegacyavaproof"]],
     "abc_p2p_avalanche_peer_discovery.py": [["--nolegacyavaproof"]],
     "abc_p2p_avalanche_proof_voting.py": [["--nolegacyavaproof"]],
     "abc_p2p_avalanche_quorum.py": [["--nolegacyavaproof"]],