diff --git a/core/net/rpl/rpl-conf.h b/core/net/rpl/rpl-conf.h
index 4474d1449..78f032252 100644
--- a/core/net/rpl/rpl-conf.h
+++ b/core/net/rpl/rpl-conf.h
@@ -291,7 +291,7 @@
 #ifdef RPL_CONF_PROBING_SELECT_FUNC
 #define RPL_PROBING_SELECT_FUNC RPL_CONF_PROBING_SELECT_FUNC
 #else
-#define RPL_PROBING_SELECT_FUNC(dag) get_probing_target((dag))
+#define RPL_PROBING_SELECT_FUNC get_probing_target
 #endif
 
 /*
@@ -314,8 +314,7 @@
 #ifdef RPL_CONF_PROBING_DELAY_FUNC
 #define RPL_PROBING_DELAY_FUNC RPL_CONF_PROBING_DELAY_FUNC
 #else
-#define RPL_PROBING_DELAY_FUNC() ((RPL_PROBING_INTERVAL / 2) \
-    + random_rand() % (RPL_PROBING_INTERVAL))
+#define RPL_PROBING_DELAY_FUNC get_probing_delay
 #endif
 
 /*
diff --git a/core/net/rpl/rpl-dag.c b/core/net/rpl/rpl-dag.c
index e7fc60a96..6bbc99fab 100644
--- a/core/net/rpl/rpl-dag.c
+++ b/core/net/rpl/rpl-dag.c
@@ -96,12 +96,13 @@ rpl_print_neighbor_list(void)
     int curr_dio_interval = default_instance->dio_intcurrent;
     int curr_rank = default_instance->current_dag->rank;
     rpl_parent_t *p = nbr_table_head(rpl_parents);
-    const struct link_stats *stats = rpl_get_parent_link_stats(p);
+    clock_time_t clock_now = clock_time();
 
     printf("RPL: OCP %u rank %u dioint %u, nbr count %u\n",
         default_instance->of->ocp, curr_rank, curr_dio_interval, uip_ds6_nbr_num());
     while(p != NULL) {
-      printf("RPL: nbr %3u %5u, %5u => %5u -- %5u %c%c (last tx %u min ago)\n",
+      const struct link_stats *stats = rpl_get_parent_link_stats(p);
+      printf("RPL: nbr %3u %5u, %5u => %5u -- %2u %c%c (last tx %u min ago)\n",
           rpl_get_parent_ipaddr(p)->u8[15],
           p->rank,
           rpl_get_parent_link_metric(p),
@@ -109,7 +110,7 @@ rpl_print_neighbor_list(void)
           stats != NULL ? stats->freshness : 0,
           link_stats_is_fresh(stats) ? 'f' : ' ',
           p == default_instance->current_dag->preferred_parent ? 'p' : ' ',
-          (unsigned)((now - p->last_tx_time) / (60 * CLOCK_SECOND))
+          (unsigned)((clock_now - stats->last_tx_time) / (60 * CLOCK_SECOND))
       );
       p = nbr_table_next(rpl_parents, p);
     }
@@ -868,6 +869,10 @@ rpl_select_parent(rpl_dag_t *dag)
     if(rpl_parent_is_fresh(best)) {
       rpl_set_preferred_parent(dag, best);
       dag->rank = rpl_rank_via_parent(dag->preferred_parent);
+    } else {
+      /* Probe the new best parent shortly in order to get a fresh estimate */
+      dag->instance->urgent_probing_target = best;
+      rpl_schedule_probing(dag->instance);
     }
   } else {
     rpl_set_preferred_parent(dag, best);
diff --git a/core/net/rpl/rpl-timers.c b/core/net/rpl/rpl-timers.c
index 6369f32fb..f5f017535 100644
--- a/core/net/rpl/rpl-timers.c
+++ b/core/net/rpl/rpl-timers.c
@@ -56,6 +56,14 @@
 void RPL_CALLBACK_NEW_DIO_INTERVAL(uint8_t dio_interval);
 #endif /* RPL_CALLBACK_NEW_DIO_INTERVAL */
 
+#ifdef RPL_PROBING_SELECT_FUNC
+rpl_parent_t *RPL_PROBING_SELECT_FUNC(rpl_dag_t *dag);
+#endif /* RPL_PROBING_SELECT_FUNC */
+
+#ifdef RPL_PROBING_DELAY_FUNC
+clock_time_t RPL_PROBING_DELAY_FUNC(rpl_dag_t *dag);
+#endif /* RPL_PROBING_DELAY_FUNC */
+
 /*---------------------------------------------------------------------------*/
 static struct ctimer periodic_timer;
 
@@ -359,42 +367,57 @@ rpl_schedule_unicast_dio_immediately(rpl_instance_t *instance)
 }
 /*---------------------------------------------------------------------------*/
 #if RPL_WITH_PROBING
-static rpl_parent_t *
+clock_time_t
+get_probing_delay(rpl_dag_t *dag)
+{
+  if(dag != NULL && dag->instance != NULL
+      && dag->instance->urgent_probing_target != NULL) {
+    /* Urgent probing needed (to find out if a neighbor may become preferred parent) */
+    return random_rand() % (CLOCK_SECOND * 10);
+  } else {
+    /* Else, use normal probing interval */
+    return ((RPL_PROBING_INTERVAL) / 2) + random_rand() % (RPL_PROBING_INTERVAL);
+  }
+}
+/*---------------------------------------------------------------------------*/
+rpl_parent_t *
 get_probing_target(rpl_dag_t *dag)
 {
-  /* Returns the next probing target. The current implementation probes the current
-   * preferred parent if we have not updated its link for RPL_PROBING_EXPIRATION_TIME.
+  /* Returns the next probing target. The current implementation probes the urgent
+   * probing target if any, or the preferred parent if its link statistics need refresh.
    * Otherwise, it picks at random between:
-   * (1) selecting the best parent not updated for RPL_PROBING_EXPIRATION_TIME
+   * (1) selecting the best parent with non-fresh link statistics
    * (2) selecting the least recently updated parent
    */
 
   rpl_parent_t *p;
   rpl_parent_t *probing_target = NULL;
   rpl_rank_t probing_target_rank = INFINITE_RANK;
-  /* min_last_tx is the clock time RPL_PROBING_EXPIRATION_TIME in the past */
-  clock_time_t min_last_tx = clock_time();
-  min_last_tx = min_last_tx > 2 * RPL_PROBING_EXPIRATION_TIME
-      ? min_last_tx - RPL_PROBING_EXPIRATION_TIME : 1;
+  clock_time_t probing_target_age = 0;
+  clock_time_t clock_now = clock_time();
 
   if(dag == NULL ||
-      dag->instance == NULL ||
-      dag->preferred_parent == NULL) {
+      dag->instance == NULL) {
     return NULL;
   }
 
-  /* Our preferred parent needs probing */
-  if(dag->preferred_parent->last_tx_time < min_last_tx) {
-    probing_target = dag->preferred_parent;
+  /* There is an urgent probing target */
+  if(dag->instance->urgent_probing_target != NULL) {
+    return dag->instance->urgent_probing_target;
   }
 
-  /* With 50% probability: probe best parent not updated for RPL_PROBING_EXPIRATION_TIME */
-  if(probing_target == NULL && (random_rand() % 2) == 0) {
+  /* The preferred parent needs probing */
+  if(dag->preferred_parent != NULL && !rpl_parent_is_fresh(dag->preferred_parent)) {
+    return dag->preferred_parent;
+  }
+
+  /* With 50% probability: probe best non-fresh parent */
+  if(random_rand() % 2 == 0) {
     p = nbr_table_head(rpl_parents);
     while(p != NULL) {
-      if(p->dag == dag && p->last_tx_time < min_last_tx) {
+      if(p->dag == dag && !rpl_parent_is_fresh(p)) {
         /* p is in our dag and needs probing */
-        rpl_rank_t p_rank = dag->instance->of->calculate_rank(p, 0);
+        rpl_rank_t p_rank = rpl_rank_via_parent(p);
         if(probing_target == NULL
             || p_rank < probing_target_rank) {
           probing_target = p;
@@ -405,14 +428,16 @@ get_probing_target(rpl_dag_t *dag)
     }
   }
 
-  /* The default probing target is the least recently updated parent */
+  /* If we still do not have a probing target: pick the least recently updated parent */
   if(probing_target == NULL) {
     p = nbr_table_head(rpl_parents);
     while(p != NULL) {
-      if(p->dag == dag) {
+      const struct link_stats *stats =rpl_get_parent_link_stats(p);
+      if(p->dag == dag && stats != NULL) {
         if(probing_target == NULL
-            || p->last_tx_time < probing_target->last_tx_time) {
+            || clock_now - stats->last_tx_time > probing_target_age) {
           probing_target = p;
+          probing_target_age = clock_now - stats->last_tx_time;
         }
       }
       p = nbr_table_next(rpl_parents, p);
@@ -431,11 +456,14 @@ handle_probing_timer(void *ptr)
 
   /* Perform probing */
   if(target_ipaddr != NULL) {
-    PRINTF("RPL: probing %u ((last tx %u min ago))\n",
-        nbr_table_get_lladdr(rpl_parents, probing_target)->u8[7],
-        (unsigned)((clock_time() - probing_target->last_tx_time) / (60 * CLOCK_SECOND)));
-    /* Send probe (unicast DIO or DIS) */
+    PRINTF("RPL: probing %u %s last tx %u min ago\n",
+        rpl_get_parent_llpaddr(probing_target)->u8[7],
+        instance->urgent_probing_target != NULL ? "(urgent)" : "",
+        (unsigned)((clock_time() - probing_target->last_tx_time) / (60 * CLOCK_SECOND)),
+        );
+    /* Send probe, e.g. unicast DIO or DIS */
     RPL_PROBING_SEND_FUNC(instance, target_ipaddr);
+    instance->urgent_probing_target = NULL;
   }
 
   /* Schedule next probing */
@@ -449,7 +477,7 @@ handle_probing_timer(void *ptr)
 void
 rpl_schedule_probing(rpl_instance_t *instance)
 {
-  ctimer_set(&instance->probing_timer, RPL_PROBING_DELAY_FUNC(),
+  ctimer_set(&instance->probing_timer, RPL_PROBING_DELAY_FUNC(instance->current_dag),
                   handle_probing_timer, instance);
 }
 #endif /* RPL_WITH_PROBING */
diff --git a/core/net/rpl/rpl.h b/core/net/rpl/rpl.h
index dce9d1354..f4efafd50 100644
--- a/core/net/rpl/rpl.h
+++ b/core/net/rpl/rpl.h
@@ -246,6 +246,7 @@ struct rpl_instance {
   clock_time_t dio_next_delay; /* delay for completion of dio interval */
 #if RPL_WITH_PROBING
   struct ctimer probing_timer;
+  rpl_parent_t *urgent_probing_target;
 #endif /* RPL_WITH_PROBING */
   struct ctimer dio_timer;
   struct ctimer dao_timer;