diff --git a/CHANGELOG.md b/CHANGELOG.md
index fdf54045594..9074980d188 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -6,7 +6,9 @@
 - _...Add new stuff here..._
 
 ### 🐞 Bug fixes
+
 - Fix line-placed map-pitch-aligned texts being too large when viewed from some latitudes on a globe ([#4786](https://github.com/maplibre/maplibre-gl-js/issues/4786))
+- Fix crashes when camera is inside terrain. Add padding between camera and surface to prevent cases like this. ([#1542](https://github.com/maplibre/maplibre-gl-js/issues/1542))
 - _...Add new stuff here..._
 
 ## 5.0.0-pre.4
diff --git a/src/ui/camera.test.ts b/src/ui/camera.test.ts
index 3ae21ad9800..b64f361ef57 100644
--- a/src/ui/camera.test.ts
+++ b/src/ui/camera.test.ts
@@ -2028,6 +2028,9 @@ describe('#flyTo', () => {
         };
         camera.transform = {
             elevation: 0,
+            recalculateZoom: () => true,
+            clone: () => camera.transform,
+            apply: () => {},
             recalculateZoomAndCenter: () => true,
             setMinElevationForCurrentTile: (_a) => true,
             setElevation: (e) => { camera.transform.elevation = e; }
diff --git a/src/ui/camera.ts b/src/ui/camera.ts
index 844bfac81c8..3a0d12078b2 100644
--- a/src/ui/camera.ts
+++ b/src/ui/camera.ts
@@ -1205,7 +1205,9 @@ export abstract class Camera extends Evented {
     _finalizeElevation() {
         this._elevationFreeze = false;
         if (this.getCenterClampedToGround()) {
-            this.transform.recalculateZoomAndCenter(this.terrain);
+            const tr = this._getTransformForUpdate();
+            tr.recalculateZoomAndCenter(this.terrain);
+            this._applyUpdatedTransform(tr);
         }
     }
 
@@ -1238,13 +1240,14 @@ export abstract class Camera extends Evented {
      *
      * @param tr - The transform to check.
      */
-    _elevateCameraIfInsideTerrain(tr: ITransform) : { pitch?: number; zoom?: number } {
+    _elevateCameraIfInsideTerrain(tr: ITransform): { pitch?: number; zoom?: number } {
         if (!this.terrain && tr.elevation >= 0 && tr.pitch <= 90) {
             return {};
         }
+        const surfacePadding = Math.min(500, 20 * (25 - tr.zoom));
         const cameraLngLat = tr.getCameraLngLat();
         const cameraAltitude = tr.getCameraAltitude();
-        const minAltitude = this.terrain ? this.terrain.getElevationForLngLatZoom(cameraLngLat, tr.zoom) : 0;
+        const minAltitude = this.terrain ? this.terrain.getElevationForLngLatZoom(cameraLngLat, tr.zoom) + surfacePadding : 0;
         if (cameraAltitude < minAltitude) {
             const newCamera = this.calculateCameraOptionsFromTo(
                 cameraLngLat, minAltitude, tr.center, tr.elevation);
diff --git a/test/integration/render/tests/high-pitch/terrain-pitch95/expected.png b/test/integration/render/tests/high-pitch/terrain-pitch95/expected.png
index 77ce8a5bf61..4043da41243 100644
Binary files a/test/integration/render/tests/high-pitch/terrain-pitch95/expected.png and b/test/integration/render/tests/high-pitch/terrain-pitch95/expected.png differ
diff --git a/test/integration/render/tests/terrain/fog-no-sky-blend-roll/expected.png b/test/integration/render/tests/terrain/fog-no-sky-blend-roll/expected.png
index 4fc9a0539ec..c777fdfa474 100644
Binary files a/test/integration/render/tests/terrain/fog-no-sky-blend-roll/expected.png and b/test/integration/render/tests/terrain/fog-no-sky-blend-roll/expected.png differ
diff --git a/test/integration/render/tests/terrain/fog-no-sky-blend/expected.png b/test/integration/render/tests/terrain/fog-no-sky-blend/expected.png
index 0046b826478..f62de64e672 100644
Binary files a/test/integration/render/tests/terrain/fog-no-sky-blend/expected.png and b/test/integration/render/tests/terrain/fog-no-sky-blend/expected.png differ
diff --git a/test/integration/render/tests/terrain/fog-sky-blend-roll/expected.png b/test/integration/render/tests/terrain/fog-sky-blend-roll/expected.png
index 6fa175db323..e2357bd0bd3 100644
Binary files a/test/integration/render/tests/terrain/fog-sky-blend-roll/expected.png and b/test/integration/render/tests/terrain/fog-sky-blend-roll/expected.png differ
diff --git a/test/integration/render/tests/terrain/fog-sky-blend/expected.png b/test/integration/render/tests/terrain/fog-sky-blend/expected.png
index a9b443b46dd..eb712372acb 100644
Binary files a/test/integration/render/tests/terrain/fog-sky-blend/expected.png and b/test/integration/render/tests/terrain/fog-sky-blend/expected.png differ
diff --git a/test/integration/render/tests/terrain/fog/expected.png b/test/integration/render/tests/terrain/fog/expected.png
index 045f70a4b73..6564c0858ac 100644
Binary files a/test/integration/render/tests/terrain/fog/expected.png and b/test/integration/render/tests/terrain/fog/expected.png differ