diff --git a/lib/matplotlib/figure.py b/lib/matplotlib/figure.py
index 59731b4552c5..be08bb36d85e 100644
--- a/lib/matplotlib/figure.py
+++ b/lib/matplotlib/figure.py
@@ -1999,7 +1999,7 @@ def __setstate__(self, state):
 
         # re-initialise some of the unstored state information
         self._axobservers = []
-        self.canvas = None
+        FigureCanvasBase(self)  # Set self.canvas.
         self._layoutbox = None
 
         if restore_to_pylab:
diff --git a/lib/matplotlib/tests/test_pickle.py b/lib/matplotlib/tests/test_pickle.py
index 17687092416e..0fad3cdf2e7b 100644
--- a/lib/matplotlib/tests/test_pickle.py
+++ b/lib/matplotlib/tests/test_pickle.py
@@ -10,6 +10,7 @@
 from matplotlib.dates import rrulewrapper
 import matplotlib.pyplot as plt
 import matplotlib.transforms as mtransforms
+import matplotlib.figure as mfigure
 
 
 def test_simple():
@@ -194,3 +195,13 @@ def test_shared():
 @pytest.mark.parametrize("cmap", cm.cmap_d.values())
 def test_cmap(cmap):
     pickle.dumps(cmap)
+
+
+def test_unpickle_canvas():
+    fig = mfigure.Figure()
+    assert fig.canvas is not None
+    out = BytesIO()
+    pickle.dump(fig, out)
+    out.seek(0)
+    fig2 = pickle.load(out)
+    assert fig2.canvas is not None