diff --git a/src/libslic3r/GCode/GCodeProcessor.cpp b/src/libslic3r/GCode/GCodeProcessor.cpp
index 74831e36ed..7a17909714 100644
--- a/src/libslic3r/GCode/GCodeProcessor.cpp
+++ b/src/libslic3r/GCode/GCodeProcessor.cpp
@@ -826,8 +826,13 @@ void GCodeProcessor::apply_config(const PrintConfig& config)
         m_filament_diameters[i] = static_cast<float>(config.filament_diameter.values[i]);
     }
 
-    if ((m_flavor == gcfMarlinLegacy || m_flavor == gcfMarlinFirmware) && config.machine_limits_usage.value != MachineLimitsUsage::Ignore)
+    if ((m_flavor == gcfMarlinLegacy || m_flavor == gcfMarlinFirmware) && config.machine_limits_usage.value != MachineLimitsUsage::Ignore) {
         m_time_processor.machine_limits = reinterpret_cast<const MachineEnvelopeConfig&>(config);
+        if (m_flavor == gcfMarlinLegacy) {
+            // Legacy Marlin does not have separate travel acceleration, it uses the 'extruding' value instead.
+            m_time_processor.machine_limits.machine_max_acceleration_travel = m_time_processor.machine_limits.machine_max_acceleration_extruding;
+        }
+    }
 
     // Filament load / unload times are not specific to a firmware flavor. Let anybody use it if they find it useful.
     // As of now the fields are shown at the UI dialog in the same combo box as the ramming values, so they
@@ -997,10 +1002,15 @@ void GCodeProcessor::apply_config(const DynamicPrintConfig& config)
         if (machine_max_acceleration_retracting != nullptr)
             m_time_processor.machine_limits.machine_max_acceleration_retracting.values = machine_max_acceleration_retracting->values;
 
-        const ConfigOptionFloats* machine_max_acceleration_travel = config.option<ConfigOptionFloats>("machine_max_acceleration_travel");
+
+        // Legacy Marlin does not have separate travel acceleration, it uses the 'extruding' value instead.
+        const ConfigOptionFloats* machine_max_acceleration_travel = config.option<ConfigOptionFloats>(m_flavor == gcfMarlinLegacy
+                                                                                                    ? "machine_max_acceleration_extruding"
+                                                                                                    : "machine_max_acceleration_travel");
         if (machine_max_acceleration_travel != nullptr)
             m_time_processor.machine_limits.machine_max_acceleration_travel.values = machine_max_acceleration_travel->values;
 
+
         const ConfigOptionFloats* machine_min_extruding_rate = config.option<ConfigOptionFloats>("machine_min_extruding_rate");
         if (machine_min_extruding_rate != nullptr)
             m_time_processor.machine_limits.machine_min_extruding_rate.values = machine_min_extruding_rate->values;
@@ -2617,10 +2627,11 @@ void GCodeProcessor::process_M204(const GCodeReader::GCodeLine& line)
         if (static_cast<PrintEstimatedTimeStatistics::ETimeMode>(i) == PrintEstimatedTimeStatistics::ETimeMode::Normal ||
             m_time_processor.machine_envelope_processing_enabled) {
             if (line.has_value('S', value)) {
-                // Legacy acceleration format. This format is used by the legacy Marlin, MK2 or MK3 firmware,
-                // and it is also generated by Slic3r to control acceleration per extrusion type
-                // (there is a separate acceleration settings in Slicer for perimeter, first layer etc).
+                // Legacy acceleration format. This format is used by the legacy Marlin, MK2 or MK3 firmware
+                // It is also generated by PrusaSlicer to control acceleration per extrusion type
+                // (perimeters, first layer etc) when 'Marlin (legacy)' flavor is used.
                 set_acceleration(static_cast<PrintEstimatedTimeStatistics::ETimeMode>(i), value);
+                set_travel_acceleration(static_cast<PrintEstimatedTimeStatistics::ETimeMode>(i), value);
                 if (line.has_value('T', value))
                     set_option_value(m_time_processor.machine_limits.machine_max_acceleration_retracting, i, value);
             }