diff --git a/CHANGELOG.md b/CHANGELOG.md
index fe6cbd949..2e905fdaf 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -7,7 +7,7 @@ User-visible changes worth mentioning.
 
 ## main
 
-- [#PR ID] Add your changelog here.
+- [#1690] Consider expires_in when clear expired tokens with StaleRecordsCleaner.
 
 ## 5.6.8
 
diff --git a/lib/doorkeeper/orm/active_record/stale_records_cleaner.rb b/lib/doorkeeper/orm/active_record/stale_records_cleaner.rb
index 3ba6bd590..275e0bc16 100644
--- a/lib/doorkeeper/orm/active_record/stale_records_cleaner.rb
+++ b/lib/doorkeeper/orm/active_record/stale_records_cleaner.rb
@@ -28,6 +28,7 @@ def clean_expired(ttl)
           @base_scope
             .where.not(expires_in: nil)
             .where(table[:created_at].lt(Time.current - ttl))
+            .where(table[:created_at] + table[:expires_in].lt(Time.current))
             .in_batches(&:delete_all)
         end
       end