diff --git a/agent/agent.go b/agent/agent.go
index 2ff474dbd..f7ae32c95 100644
--- a/agent/agent.go
+++ b/agent/agent.go
@@ -323,7 +323,7 @@ func (a *Agent) runInputs(
 		wg.Add(1)
 		go func(input *models.RunningInput) {
 			defer wg.Done()
-			a.gatherLoop(ctx, acc, input, ticker)
+			a.gatherLoop(ctx, acc, input, ticker, interval)
 		}(input)
 	}
 
@@ -454,13 +454,14 @@ func (a *Agent) gatherLoop(
 	acc telegraf.Accumulator,
 	input *models.RunningInput,
 	ticker Ticker,
+	interval time.Duration,
 ) {
 	defer panicRecover(input)
 
 	for {
 		select {
 		case <-ticker.Elapsed():
-			err := a.gatherOnce(acc, input, ticker)
+			err := a.gatherOnce(acc, input, ticker, interval)
 			if err != nil {
 				acc.AddError(err)
 			}
@@ -476,18 +477,28 @@ func (a *Agent) gatherOnce(
 	acc telegraf.Accumulator,
 	input *models.RunningInput,
 	ticker Ticker,
+	interval time.Duration,
 ) error {
 	done := make(chan error)
 	go func() {
 		done <- input.Gather(acc)
 	}()
 
+	// Only warn after interval seconds, even if the interval is started late.
+	// Intervals can start late if the previous interval went over or due to
+	// clock changes.
+	slowWarning := time.NewTicker(interval)
+	defer slowWarning.Stop()
+
 	for {
 		select {
 		case err := <-done:
 			return err
+		case <-slowWarning.C:
+			log.Printf("W! [%s] Collection took longer than expected; not complete after interval of %s",
+				input.LogName(), interval)
 		case <-ticker.Elapsed():
-			log.Printf("W! [agent] [%s] did not complete within its interval",
+			log.Printf("D! [%s] Previous collection has not completed; scheduled collection skipped",
 				input.LogName())
 		}
 	}
diff --git a/agent/tick.go b/agent/tick.go
index 93e3a3d76..91b99712a 100644
--- a/agent/tick.go
+++ b/agent/tick.go
@@ -31,11 +31,12 @@ type Ticker interface {
 // no maximum sleep, when using large intervals alignment is not corrected
 // until the next tick.
 type AlignedTicker struct {
-	interval time.Duration
-	jitter   time.Duration
-	ch       chan time.Time
-	cancel   context.CancelFunc
-	wg       sync.WaitGroup
+	interval    time.Duration
+	jitter      time.Duration
+	minInterval time.Duration
+	ch          chan time.Time
+	cancel      context.CancelFunc
+	wg          sync.WaitGroup
 }
 
 func NewAlignedTicker(now time.Time, interval, jitter time.Duration) *AlignedTicker {
@@ -45,10 +46,11 @@ func NewAlignedTicker(now time.Time, interval, jitter time.Duration) *AlignedTic
 func newAlignedTicker(now time.Time, interval, jitter time.Duration, clock clock.Clock) *AlignedTicker {
 	ctx, cancel := context.WithCancel(context.Background())
 	t := &AlignedTicker{
-		interval: interval,
-		jitter:   jitter,
-		ch:       make(chan time.Time, 1),
-		cancel:   cancel,
+		interval:    interval,
+		jitter:      jitter,
+		minInterval: interval / 100,
+		ch:          make(chan time.Time, 1),
+		cancel:      cancel,
 	}
 
 	d := t.next(now)
@@ -64,7 +66,12 @@ func newAlignedTicker(now time.Time, interval, jitter time.Duration, clock clock
 }
 
 func (t *AlignedTicker) next(now time.Time) time.Duration {
-	next := internal.AlignTime(now, t.interval)
+	// Add minimum interval size to avoid scheduling an interval that is
+	// exceptionally short.  This avoids an issue that can occur where the
+	// previous interval ends slightly early due to very minor clock changes.
+	next := now.Add(t.minInterval)
+
+	next = internal.AlignTime(next, t.interval)
 	d := next.Sub(now)
 	if d == 0 {
 		d = t.interval