diff --git a/tests/v1/e2e/test_mamba_prefix_cache.py b/tests/v1/e2e/test_mamba_prefix_cache.py
index 6a7369ad3..38cfdcdb3 100644
--- a/tests/v1/e2e/test_mamba_prefix_cache.py
+++ b/tests/v1/e2e/test_mamba_prefix_cache.py
@@ -76,14 +76,11 @@ def get_fake_sample_fn() -> SamplerOutput:
                 ),
                 logprobs_tensors=None,
             )
-        num_sampled_tokens = spec_decode_metadata.cu_num_sampled_tokens[0].item() + 1
         accpeted_tokens = prompt_token_ids[
             first_token_id_index : first_token_id_index
             + min(num_accepted_tokens, logits.shape[0])
         ]
-        sampled_token_ids = accpeted_tokens + [-1] * (
-            num_sampled_tokens - len(accpeted_tokens)
-        )
+        sampled_token_ids = accpeted_tokens
         return SamplerOutput(
             sampled_token_ids=torch.tensor(
                 [sampled_token_ids], device="cuda", dtype=torch.int32
@@ -124,7 +121,24 @@ def get_fake_propose_draft_token_ids_fn():
                 first_token_id_index : first_token_id_index + num_speculative_tokens
             ]
         ]
-        return proposed_draft_token_ids
+
+        next_token_ids = torch.tensor(
+            prompt_token_ids[
+                first_token_id_index - 1 : first_token_id_index
+                - 1
+                + num_accepted_tokens
+            ],
+            device="cuda",
+            dtype=torch.int32,
+        )
+
+        valid_sampled_tokens_count = torch.tensor(
+            [num_accepted_tokens], device="cuda", dtype=torch.int32
+        )
+
+        self._copy_valid_sampled_token_count(next_token_ids, valid_sampled_tokens_count)
+
+        return torch.tensor(proposed_draft_token_ids, device="cuda", dtype=torch.int32)
 
     return fake_propose_draft_token_ids_fn
 
@@ -184,6 +198,7 @@ mamba_kv_cache_dict = {}
 
 def get_fake_execute_model_fn(original_execute_model_fn: Callable):
     last_num_computed_tokens = 0
+    num_prompt_tokens = None
 
     def fake_execute_model_fn(
         self: GPUModelRunner,
@@ -201,10 +216,30 @@ def get_fake_execute_model_fn(original_execute_model_fn: Callable):
             mamba_group_id
         ].layer_names[0]
         nonlocal last_num_computed_tokens
+        nonlocal num_prompt_tokens
+
+        if (
+            len(scheduler_output.scheduled_new_reqs) > 0
+            and scheduler_output.scheduled_new_reqs[0].prompt_token_ids is not None
+        ):
+            # record number of prompt tokens
+            num_prompt_tokens = len(
+                scheduler_output.scheduled_new_reqs[0].prompt_token_ids
+            )
+
         if len(scheduler_output.scheduled_cached_reqs.req_ids) > 0:
             num_computed_tokens = (
                 scheduler_output.scheduled_cached_reqs.num_computed_tokens[0]
             )
+            if (
+                self.num_spec_tokens
+                and num_prompt_tokens is not None
+                and num_computed_tokens > num_prompt_tokens
+            ):
+                # NOTE (tdoublep) with async scheduling, the scheduler does not have an
+                # accurate measure of the number of computed tokens; we need to subtract
+                # the number of reject tokens from the previous timestep.
+                num_computed_tokens -= num_speculative_tokens + 1 - num_accepted_tokens
             if (
                 num_computed_tokens // BLOCK_SIZE
                 > last_num_computed_tokens // BLOCK_SIZE
@@ -493,9 +528,9 @@ def test_mamba_prefix_cache(monkeypatch: pytest.MonkeyPatch):
             step_actions=[
                 StepAction(0, 554, [1, 1, 1, 1], (-1, -1), (-1, -1)),
                 StepAction(554, 4, [], (-1, -1), (-1, -1)),
-                StepAction(555, 4, [], (-1, -1), (-1, -1)),
+                StepAction(555, 4, [1, 1, 1, 1, 1], (-1, -1), (-1, -1)),
                 StepAction(556, 4, [], (-1, -1), (-1, -1)),
-                StepAction(557, 4, [1, 1, 1, 1, 1], (0, 1), (-1, -1)),
+                StepAction(557, 4, [], (0, 1), (-1, -1)),
                 StepAction(558, 4, [], (-1, -1), (-1, -1)),
                 StepAction(559, 4, [], (-1, -1), (1, 0)),
                 StepAction(560, 4, [], (-1, -1), (-1, -1)),
@@ -510,8 +545,8 @@ def test_mamba_prefix_cache(monkeypatch: pytest.MonkeyPatch):
             step_actions=[
                 StepAction(0, 554, [1, 1, 1, 1], (-1, -1), (-1, -1)),
                 StepAction(554, 4, [], (-1, -1), (-1, -1)),
-                StepAction(556, 4, [], (-1, -1), (-1, -1)),
-                StepAction(558, 4, [1, 1, 1, 1, 1], (1, 1), (2, 0)),
+                StepAction(556, 4, [1, 1, 1, 1, 1], (-1, -1), (-1, -1)),
+                StepAction(558, 4, [], (1, 1), (2, 0)),
                 StepAction(560, 4, [], (-1, -1), (-1, -1)),
                 StepAction(562, 4, [0, 1, 1, 1, 1], (-1, -1), (-1, -1)),
             ],
@@ -526,7 +561,8 @@ def test_mamba_prefix_cache(monkeypatch: pytest.MonkeyPatch):
                 StepAction(555, 4, [], (-1, -1), (-1, -1)),
                 StepAction(557, 4, [1, 1, 1, 1, 1], (1, 1), (-1, -1)),
                 StepAction(559, 4, [], (-1, -1), (1, 0)),
-                StepAction(561, 4, [0, 1, 1, 1, 1], (-1, -1), (-1, -1)),
+                StepAction(561, 4, [], (-1, -1), (-1, -1)),
+                StepAction(563, 4, [0, 1, 1, 1, 1], (-1, -1), (-1, -1)),
             ],
         ),
         "accept_3_1": TestConfig(
@@ -536,9 +572,10 @@ def test_mamba_prefix_cache(monkeypatch: pytest.MonkeyPatch):
             step_actions=[
                 StepAction(0, 553, [1, 1, 1, 1], (-1, -1), (-1, -1)),
                 StepAction(553, 4, [], (-1, -1), (-1, -1)),
-                StepAction(556, 4, [], (-1, -1), (-1, -1)),
-                StepAction(559, 4, [1, 1, 1, 1, 1], (2, 1), (1, 0)),
-                StepAction(562, 4, [0, 1, 1, 1, 1], (-1, -1), (-1, -1)),
+                StepAction(556, 4, [1, 1, 1, 1, 1], (-1, -1), (-1, -1)),
+                StepAction(559, 4, [], (2, 1), (1, 0)),
+                StepAction(562, 4, [], (-1, -1), (-1, -1)),
+                StepAction(565, 4, [0, 1, 1, 1, 1], (-1, -1), (-1, -1)),
             ],
         ),
         "accept_3_2": TestConfig(
@@ -561,7 +598,8 @@ def test_mamba_prefix_cache(monkeypatch: pytest.MonkeyPatch):
                 StepAction(0, 555, [1, 1, 1, 1], (-1, -1), (-1, -1)),
                 StepAction(555, 4, [], (-1, -1), (-1, -1)),
                 StepAction(558, 4, [1, 1, 1, 1, 1], (2, 1), (2, 0)),
-                StepAction(561, 4, [0, 1, 1, 1, 1], (-1, -1), (-1, -1)),
+                StepAction(561, 4, [], (-1, -1), (-1, -1)),
+                StepAction(564, 4, [0, 1, 1, 1, 1], (-1, -1), (-1, -1)),
             ],
         ),
         "accept_4_1": TestConfig(
@@ -572,8 +610,8 @@ def test_mamba_prefix_cache(monkeypatch: pytest.MonkeyPatch):
                 StepAction(0, 553, [1, 1, 1, 1], (-1, -1), (-1, -1)),
                 StepAction(553, 4, [], (-1, -1), (-1, -1)),
                 StepAction(557, 4, [1, 1, 1, 1, 1], (3, 1), (3, 0)),
-                StepAction(561, 4, [0, 1, 1, 1, 1], (-1, -1), (-1, -1)),
-                StepAction(565, 4, [], (-1, -1), (-1, -1)),
+                StepAction(561, 4, [], (-1, -1), (-1, -1)),
+                StepAction(565, 4, [0, 1, 1, 1, 1], (-1, -1), (-1, -1)),
             ],
         ),
         "accept_4_2": TestConfig(
@@ -584,8 +622,8 @@ def test_mamba_prefix_cache(monkeypatch: pytest.MonkeyPatch):
                 StepAction(0, 554, [1, 1, 1, 1], (-1, -1), (-1, -1)),
                 StepAction(554, 4, [], (-1, -1), (-1, -1)),
                 StepAction(558, 4, [1, 1, 1, 1, 1], (3, 1), (2, 0)),
-                StepAction(562, 4, [0, 1, 1, 1, 1], (-1, -1), (-1, -1)),
-                StepAction(566, 4, [], (-1, -1), (-1, -1)),
+                StepAction(562, 4, [], (-1, -1), (-1, -1)),
+                StepAction(566, 4, [0, 1, 1, 1, 1], (-1, -1), (-1, -1)),
             ],
         ),
         "accept_4_3": TestConfig(
@@ -596,7 +634,8 @@ def test_mamba_prefix_cache(monkeypatch: pytest.MonkeyPatch):
                 StepAction(0, 555, [1, 1, 1, 1], (-1, -1), (-1, -1)),
                 StepAction(555, 4, [], (-1, -1), (-1, -1)),
                 StepAction(559, 4, [1, 1, 1, 1, 1], (3, 1), (1, 0)),
-                StepAction(563, 4, [0, 1, 1, 1, 1], (-1, -1), (-1, -1)),
+                StepAction(563, 4, [], (-1, -1), (-1, -1)),
+                StepAction(567, 4, [0, 1, 1, 1, 1], (-1, -1), (-1, -1)),
             ],
         ),
         "accept_4_4": TestConfig(
diff --git a/vllm/config/vllm.py b/vllm/config/vllm.py
index 095809d54..d6f1202e5 100644
--- a/vllm/config/vllm.py
+++ b/vllm/config/vllm.py
@@ -648,11 +648,6 @@ class VllmConfig:
                     "`external_launcher` distributed executor backend, but you chose "
                     f"`{executor_backend}`."
                 )
-            if self.cache_config.mamba_cache_mode != "none":
-                raise ValueError(
-                    "Currently, async scheduling is not compatible with "
-                    "prefix caching for Mamba models."
-                )
         elif self.scheduler_config.async_scheduling is None:
             # Enable async scheduling unless there is an incompatible option.
             if (
@@ -685,13 +680,6 @@ class VllmConfig:
                     scope="local",
                 )
                 self.scheduler_config.async_scheduling = False
-            elif self.cache_config.mamba_cache_mode != "none":
-                logger.warning_once(
-                    "Async scheduling is not compatible with "
-                    "prefix caching for Mamba models and will be disabled.",
-                    scope="local",
-                )
-                self.scheduler_config.async_scheduling = False
             else:
                 self.scheduler_config.async_scheduling = True
 
diff --git a/vllm/v1/core/single_type_kv_cache_manager.py b/vllm/v1/core/single_type_kv_cache_manager.py
index 8e5edff2f..c071ae155 100644
--- a/vllm/v1/core/single_type_kv_cache_manager.py
+++ b/vllm/v1/core/single_type_kv_cache_manager.py
@@ -814,6 +814,14 @@ class MambaManager(SingleTypeKVCacheManager):
 
     def remove_skipped_blocks(self, request_id: str, num_computed_tokens: int) -> None:
         assert isinstance(self.kv_cache_spec, MambaSpec)
+
+        # NOTE (tdoublep) with async scheduling, the num_computed_tokens can contain
+        # draft tokens from the previous step that may or may not be rejected later.
+        # This can make us think we are further ahead in the sequence than we actually
+        # are, so let's assume that all tokens are rejected so we don't free blocks
+        # that we might actually need.
+        num_computed_tokens = max(0, num_computed_tokens - self.num_speculative_blocks)
+
         super().remove_skipped_blocks(request_id, num_computed_tokens)
         if self.mamba_cache_mode == "align":
             # `last_state_block_idx` refers to the block index allocated two steps ago.
@@ -879,6 +887,9 @@ class MambaManager(SingleTypeKVCacheManager):
             # We can ignore lookahead tokens because current draft models don't have
             # mamba layers.
             num_tokens = num_tokens_main_model
+
+            # NOTE(tdouble): this is an over-estimate of how many blocks we need because
+            # num_tokens can include draft tokens that will later be rejected.
             num_required_blocks = (
                 cdiv(num_tokens, self.block_size) + self.num_speculative_blocks
             )
@@ -922,6 +933,8 @@ class MambaManager(SingleTypeKVCacheManager):
             # mamba layers.
             num_tokens = num_tokens_main_model
             req_blocks: list[KVCacheBlock] = self.req_to_blocks[request_id]
+            # NOTE(tdouble): this is an over-estimate of how many blocks we need because
+            # num_tokens can include draft tokens that will later be rejected.
             num_required_blocks = (
                 cdiv(num_tokens, self.block_size) + self.num_speculative_blocks
             )
diff --git a/vllm/v1/worker/mamba_utils.py b/vllm/v1/worker/mamba_utils.py
index 56fb02380..a22b0eeb0 100644
--- a/vllm/v1/worker/mamba_utils.py
+++ b/vllm/v1/worker/mamba_utils.py
@@ -10,6 +10,7 @@ from vllm.model_executor.layers.mamba.mamba_utils import (
     MambaStateCopyFunc,
 )
 from vllm.triton_utils import tl, triton
+from vllm.utils.math_utils import cdiv
 from vllm.v1.core.sched.output import SchedulerOutput
 from vllm.v1.kv_cache_interface import KVCacheConfig, MambaSpec
 from vllm.v1.worker.gpu_input_batch import CachedRequestState
@@ -142,7 +143,11 @@ def preprocess_mamba(
             # if num_computed_tokens is 0, prev_state_idx will be -1
             prev_state_idx = (req_state.num_computed_tokens - 1) // block_size
 
-        num_blocks = len(req_state.block_ids[mamba_group_ids[0]])
+        num_scheduled_tokens = scheduler_output.num_scheduled_tokens[req_id]
+        num_blocks: int = (
+            cdiv(req_state.num_computed_tokens + num_scheduled_tokens, block_size)
+            + num_speculative_blocks
+        )
 
         # We always save the current running state at the last
         # (1 + num_speculative_blocks) block.