diff --git a/extensions-core/multi-stage-query/src/main/java/org/apache/druid/msq/dart/controller/DartControllerContext.java b/extensions-core/multi-stage-query/src/main/java/org/apache/druid/msq/dart/controller/DartControllerContext.java
index 0248e66fd221..52f21518b312 100644
--- a/extensions-core/multi-stage-query/src/main/java/org/apache/druid/msq/dart/controller/DartControllerContext.java
+++ b/extensions-core/multi-stage-query/src/main/java/org/apache/druid/msq/dart/controller/DartControllerContext.java
@@ -48,6 +48,7 @@
 import org.apache.druid.query.QueryContext;
 import org.apache.druid.server.DruidNode;
 import org.apache.druid.server.coordination.DruidServerMetadata;
+import org.apache.druid.server.coordination.ServerType;
 
 import java.util.ArrayList;
 import java.util.Collections;
@@ -122,7 +123,9 @@ public ControllerQueryKernelConfig queryKernelConfig(
     // since the serverView is referenced shortly after the worker list is created.
     final List<String> workerIds = new ArrayList<>(servers.size());
     for (final DruidServerMetadata server : servers) {
-      workerIds.add(WorkerId.fromDruidServerMetadata(server, queryId).toString());
+      if (server.getType() == ServerType.HISTORICAL) {
+        workerIds.add(WorkerId.fromDruidServerMetadata(server, queryId).toString());
+      }
     }
 
     // Shuffle workerIds, so we don't bias towards specific servers when running multiple queries concurrently. For any
diff --git a/extensions-core/multi-stage-query/src/test/java/org/apache/druid/msq/dart/controller/DartControllerContextTest.java b/extensions-core/multi-stage-query/src/test/java/org/apache/druid/msq/dart/controller/DartControllerContextTest.java
new file mode 100644
index 000000000000..0bf61054f32a
--- /dev/null
+++ b/extensions-core/multi-stage-query/src/test/java/org/apache/druid/msq/dart/controller/DartControllerContextTest.java
@@ -0,0 +1,124 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one
+ * or more contributor license agreements.  See the NOTICE file
+ * distributed with this work for additional information
+ * regarding copyright ownership.  The ASF licenses this file
+ * to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance
+ * with the License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing,
+ * software distributed under the License is distributed on an
+ * "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY
+ * KIND, either express or implied.  See the License for the
+ * specific language governing permissions and limitations
+ * under the License.
+ */
+
+package org.apache.druid.msq.dart.controller;
+
+import com.google.common.collect.ImmutableList;
+import com.google.common.collect.ImmutableMap;
+import org.apache.druid.client.BrokerServerView;
+import org.apache.druid.msq.dart.worker.WorkerId;
+import org.apache.druid.msq.exec.MemoryIntrospector;
+import org.apache.druid.msq.exec.MemoryIntrospectorImpl;
+import org.apache.druid.msq.indexing.MSQSpec;
+import org.apache.druid.msq.indexing.destination.TaskReportMSQDestination;
+import org.apache.druid.msq.kernel.controller.ControllerQueryKernelConfig;
+import org.apache.druid.msq.util.MultiStageQueryContext;
+import org.apache.druid.query.Query;
+import org.apache.druid.query.QueryContext;
+import org.apache.druid.server.DruidNode;
+import org.apache.druid.server.coordination.DruidServerMetadata;
+import org.apache.druid.server.coordination.ServerType;
+import org.junit.jupiter.api.AfterEach;
+import org.junit.jupiter.api.Assertions;
+import org.junit.jupiter.api.BeforeEach;
+import org.junit.jupiter.api.Test;
+import org.mockito.Mock;
+import org.mockito.Mockito;
+import org.mockito.MockitoAnnotations;
+
+import java.util.List;
+import java.util.stream.Collectors;
+
+public class DartControllerContextTest
+{
+  private static final List<DruidServerMetadata> SERVERS = ImmutableList.of(
+      new DruidServerMetadata("no", "localhost:1001", null, 1, ServerType.HISTORICAL, "__default", 2), // plaintext
+      new DruidServerMetadata("no", null, "localhost:1002", 1, ServerType.HISTORICAL, "__default", 1), // TLS
+      new DruidServerMetadata("no", "localhost:1003", null, 1, ServerType.REALTIME, "__default", 0)
+  );
+  private static final DruidNode SELF_NODE = new DruidNode("none", "localhost", false, 8080, -1, true, false);
+  private static final String QUERY_ID = "abc";
+
+  /**
+   * Context returned by {@link #query}. Overrides "maxConcurrentStages".
+   */
+  private QueryContext queryContext =
+      QueryContext.of(ImmutableMap.of(MultiStageQueryContext.CTX_MAX_CONCURRENT_STAGES, 3));
+  private MemoryIntrospector memoryIntrospector;
+  private AutoCloseable mockCloser;
+
+  /**
+   * Server view that returns {@link #SERVERS}.
+   */
+  @Mock
+  private BrokerServerView serverView;
+
+  /**
+   * Query spec that exists mainly to test {@link DartControllerContext#queryKernelConfig}.
+   */
+  @Mock
+  private MSQSpec querySpec;
+
+  /**
+   * Query returned by {@link #querySpec}.
+   */
+  @Mock
+  private Query query;
+
+  @BeforeEach
+  public void setUp()
+  {
+    mockCloser = MockitoAnnotations.openMocks(this);
+    memoryIntrospector = new MemoryIntrospectorImpl(100_000_000, 0.75, 1, 1, null);
+    Mockito.when(serverView.getDruidServerMetadatas()).thenReturn(SERVERS);
+    Mockito.when(querySpec.getQuery()).thenReturn(query);
+    Mockito.when(querySpec.getDestination()).thenReturn(TaskReportMSQDestination.instance());
+    Mockito.when(query.context()).thenReturn(queryContext);
+  }
+
+  @AfterEach
+  public void tearDown() throws Exception
+  {
+    mockCloser.close();
+  }
+
+  @Test
+  public void test_queryKernelConfig()
+  {
+    final DartControllerContext controllerContext =
+        new DartControllerContext(null, null, SELF_NODE, null, memoryIntrospector, serverView, null);
+    final ControllerQueryKernelConfig queryKernelConfig = controllerContext.queryKernelConfig(QUERY_ID, querySpec);
+
+    Assertions.assertFalse(queryKernelConfig.isFaultTolerant());
+    Assertions.assertFalse(queryKernelConfig.isDurableStorage());
+    Assertions.assertEquals(3, queryKernelConfig.getMaxConcurrentStages());
+    Assertions.assertEquals(TaskReportMSQDestination.instance(), queryKernelConfig.getDestination());
+    Assertions.assertTrue(queryKernelConfig.isPipeline());
+
+    // Check workerIds after sorting, because they've been shuffled.
+    Assertions.assertEquals(
+        ImmutableList.of(
+            // Only the HISTORICAL servers
+            WorkerId.fromDruidServerMetadata(SERVERS.get(0), QUERY_ID).toString(),
+            WorkerId.fromDruidServerMetadata(SERVERS.get(1), QUERY_ID).toString()
+        ),
+        queryKernelConfig.getWorkerIds().stream().sorted().collect(Collectors.toList())
+    );
+  }
+}