diff --git a/packages/core/src/container/ZoomPane/index.tsx b/packages/core/src/container/ZoomPane/index.tsx
index f94bbe58..636ce5f0 100644
--- a/packages/core/src/container/ZoomPane/index.tsx
+++ b/packages/core/src/container/ZoomPane/index.tsx
@@ -5,13 +5,12 @@ import type { D3ZoomEvent } from 'd3-zoom';
 import { select, pointer } from 'd3-selection';
 import shallow from 'zustand/shallow';
 
-import { clamp } from '../../utils';
 import useKeyPress from '../../hooks/useKeyPress';
 import useResizeHandler from '../../hooks/useResizeHandler';
 import { useStore, useStoreApi } from '../../hooks/useStore';
 import { containerStyle } from '../../styles';
 import type { FlowRendererProps } from '../FlowRenderer';
-import { PanOnScrollMode } from '../../types';
+import { CoordinateExtent, PanOnScrollMode } from '../../types';
 import type { Viewport, ReactFlowState } from '../../types';
 
 type ZoomPaneProps = Omit<
@@ -71,22 +70,24 @@ const ZoomPane = ({
 
   useEffect(() => {
     if (zoomPane.current) {
+      const bbox = zoomPane.current.getBoundingClientRect();
       const d3ZoomInstance = zoom().scaleExtent([minZoom, maxZoom]).translateExtent(translateExtent);
       const selection = select(zoomPane.current as Element).call(d3ZoomInstance);
+      const updatedTransform = zoomIdentity.translate(defaultViewport.x, defaultViewport.y).scale(defaultViewport.zoom);
+      const extent: CoordinateExtent = [
+        [0, 0],
+        [bbox.width, bbox.height],
+      ];
 
-      const clampedX = clamp(defaultViewport.x, translateExtent[0][0], translateExtent[1][0]);
-      const clampedY = clamp(defaultViewport.y, translateExtent[0][1], translateExtent[1][1]);
-      const clampedZoom = clamp(defaultViewport.zoom, minZoom, maxZoom);
-      const updatedTransform = zoomIdentity.translate(clampedX, clampedY).scale(clampedZoom);
-
-      d3ZoomInstance.transform(selection, updatedTransform);
+      const constrainedTransform = d3ZoomInstance.constrain()(updatedTransform, extent, translateExtent);
+      d3ZoomInstance.transform(selection, constrainedTransform);
 
       store.setState({
         d3Zoom: d3ZoomInstance,
         d3Selection: selection,
         d3ZoomHandler: selection.on('wheel.zoom'),
         // we need to pass transform because zoom handler is not registered when we set the initial transform
-        transform: [clampedX, clampedY, clampedZoom],
+        transform: [constrainedTransform.x, constrainedTransform.y, constrainedTransform.k],
         domNode: zoomPane.current.closest('.react-flow') as HTMLDivElement,
       });
     }
@@ -156,7 +157,6 @@ const ZoomPane = ({
       } else if (!selectionKeyPressed) {
         d3Zoom.on('zoom', (event: D3ZoomEvent<HTMLDivElement, any>) => {
           const { onViewportChange } = store.getState();
-
           store.setState({ transform: [event.transform.x, event.transform.y, event.transform.k] });
 
           if (onMove || onViewportChange) {
diff --git a/packages/core/src/store/index.ts b/packages/core/src/store/index.ts
index bdb02137..51acb34d 100644
--- a/packages/core/src/store/index.ts
+++ b/packages/core/src/store/index.ts
@@ -209,8 +209,7 @@ const createRFStore = () =>
       set({ maxZoom });
     },
     setTranslateExtent: (translateExtent: CoordinateExtent) => {
-      const { d3Zoom } = get();
-      d3Zoom?.translateExtent(translateExtent);
+      get().d3Zoom?.translateExtent(translateExtent);
 
       set({ translateExtent });
     },
diff --git a/packages/minimap/src/MiniMap.tsx b/packages/minimap/src/MiniMap.tsx
index b1d4c555..c9634fd6 100644
--- a/packages/minimap/src/MiniMap.tsx
+++ b/packages/minimap/src/MiniMap.tsx
@@ -14,6 +14,7 @@ import {
   getBoundsOfRects,
   useStoreApi,
   getNodePositionWithOrigin,
+  CoordinateExtent,
 } from '@reactflow/core';
 import type { ReactFlowState, Rect } from '@reactflow/core';
 
@@ -109,7 +110,7 @@ function MiniMap({
       };
 
       const panHandler = (event: D3ZoomEvent<HTMLDivElement, any>) => {
-        const { transform, d3Selection, d3Zoom } = store.getState();
+        const { transform, d3Selection, d3Zoom, translateExtent, width, height } = store.getState();
 
         if (event.sourceEvent.type !== 'mousemove' || !d3Selection || !d3Zoom) {
           return;
@@ -120,10 +121,15 @@ function MiniMap({
           x: transform[0] - event.sourceEvent.movementX * viewScaleRef.current * Math.max(1, transform[2]),
           y: transform[1] - event.sourceEvent.movementY * viewScaleRef.current * Math.max(1, transform[2]),
         };
+        const extent: CoordinateExtent = [
+          [0, 0],
+          [width, height],
+        ];
 
         const nextTransform = zoomIdentity.translate(position.x, position.y).scale(transform[2]);
+        const constrainedTransform = d3Zoom.constrain()(nextTransform, extent, translateExtent);
 
-        d3Zoom.transform(d3Selection, nextTransform);
+        d3Zoom.transform(d3Selection, constrainedTransform);
       };
 
       const zoomAndPanHandler = zoom()