diff --git a/public/app/plugins/panel/state-timeline/utils.test.ts b/public/app/plugins/panel/state-timeline/utils.test.ts
index b45ca35e38e..0988a31b121 100644
--- a/public/app/plugins/panel/state-timeline/utils.test.ts
+++ b/public/app/plugins/panel/state-timeline/utils.test.ts
@@ -1,5 +1,6 @@
-import { ArrayVector, createTheme, FieldType, toDataFrame } from '@grafana/data';
-import { findNextStateIndex, prepareTimelineFields } from './utils';
+import { ArrayVector, createTheme, FieldType, ThresholdsMode, toDataFrame } from '@grafana/data';
+import { LegendDisplayMode } from '@grafana/schema';
+import { findNextStateIndex, getThresholdItems, prepareTimelineFields, prepareTimelineLegendItems } from './utils';
 
 const theme = createTheme();
 
@@ -136,3 +137,87 @@ describe('findNextStateIndex', () => {
     });
   });
 });
+
+describe('getThresholdItems', () => {
+  it('should handle only one threshold', () => {
+    const result = getThresholdItems(
+      { thresholds: { mode: ThresholdsMode.Absolute, steps: [{ color: 'black', value: 0 }] } },
+      theme
+    );
+
+    expect(result).toHaveLength(1);
+  });
+});
+
+describe('prepareTimelineLegendItems', () => {
+  it('should return legend items', () => {
+    const frame: any = [
+      {
+        refId: 'A',
+        fields: [
+          {
+            name: 'time',
+            config: {
+              color: {
+                mode: 'thresholds',
+              },
+              thresholds: {
+                mode: 'absolute',
+                steps: [
+                  {
+                    color: 'green',
+                    value: null,
+                  },
+                ],
+              },
+            },
+            values: new ArrayVector([
+              1634092733455,
+              1634092763455,
+              1634092793455,
+              1634092823455,
+              1634092853455,
+              1634092883455,
+              1634092913455,
+              1634092943455,
+              1634092973455,
+              1634093003455,
+            ]),
+            display: (value: string) => ({
+              text: value,
+              color: undefined,
+              numeric: NaN,
+            }),
+          },
+          {
+            name: 'A-series',
+            config: {
+              color: {
+                mode: 'thresholds',
+              },
+              thresholds: {
+                mode: 'absolute',
+                steps: [
+                  {
+                    color: 'green',
+                    value: null,
+                  },
+                ],
+              },
+            },
+            values: new ArrayVector(['< -∞', null, null, null, null, null, null, null, null, null]),
+            display: (value?: string) => ({
+              text: value || '',
+              color: 'green',
+              numeric: NaN,
+            }),
+          },
+        ],
+      },
+    ];
+
+    const result = prepareTimelineLegendItems(frame, { displayMode: LegendDisplayMode.List } as any, theme);
+
+    expect(result).toHaveLength(1);
+  });
+});
diff --git a/public/app/plugins/panel/state-timeline/utils.ts b/public/app/plugins/panel/state-timeline/utils.ts
index 7397aa2e038..e060c2180be 100644
--- a/public/app/plugins/panel/state-timeline/utils.ts
+++ b/public/app/plugins/panel/state-timeline/utils.ts
@@ -422,7 +422,7 @@ export function getThresholdItems(fieldConfig: FieldConfig, theme: GrafanaTheme2
   for (let i = 1; i <= steps.length; i++) {
     const step = steps[i - 1];
     items.push({
-      label: i === 1 ? `< ${fmt(steps[i].value)}` : `${fmt(step.value)}+`,
+      label: i === 1 ? `< ${fmt(step.value)}` : `${fmt(step.value)}+`,
       color: theme.visualization.getColorByName(step.color),
       yAxis: 1,
     });
@@ -465,7 +465,9 @@ export function prepareTimelineLegendItems(
   fields.forEach((field) => {
     field.values.toArray().forEach((v) => {
       let state = field.display!(v);
-      stateColors.set(state.text, state.color!);
+      if (state.color) {
+        stateColors.set(state.text, state.color!);
+      }
     });
   });