diff --git a/packages/block-library/src/query/edit/inspector-controls/index.js b/packages/block-library/src/query/edit/inspector-controls/index.js
index db743bc16506b..72db4563054e4 100644
--- a/packages/block-library/src/query/edit/inspector-controls/index.js
+++ b/packages/block-library/src/query/edit/inspector-controls/index.js
@@ -13,6 +13,8 @@ import {
 	RangeControl,
 	ToggleControl,
 	Notice,
+	__experimentalToolsPanel as ToolsPanel,
+	__experimentalToolsPanelItem as ToolsPanelItem,
 } from '@wordpress/components';
 import { __ } from '@wordpress/i18n';
 import { InspectorControls } from '@wordpress/block-editor';
@@ -26,7 +28,7 @@ import { store as coreStore } from '@wordpress/core-data';
 import OrderControl from './order-control';
 import AuthorControl from './author-control';
 import ParentControl from './parent-control';
-import TaxonomyControls from './taxonomy-controls';
+import { TaxonomyControls, useTaxonomiesInfo } from './taxonomy-controls';
 import StickyControl from './sticky-control';
 import { usePostTypes } from '../../utils';
 
@@ -57,6 +59,7 @@ export default function QueryInspectorControls( {
 	} = query;
 	const [ showSticky, setShowSticky ] = useState( postType === 'post' );
 	const { postTypesTaxonomiesMap, postTypesSelectOptions } = usePostTypes();
+	const taxonomiesInfo = useTaxonomiesInfo( postType );
 	const isPostTypeHierarchical = useIsPostTypeHierarchical( postType );
 	useEffect( () => {
 		setShowSticky( postType === 'post' );
@@ -100,78 +103,139 @@ export default function QueryInspectorControls( {
 		return onChangeDebounced.cancel;
 	}, [ querySearch, onChangeDebounced ] );
 	return (
-		<InspectorControls>
-			<PanelBody title={ __( 'Settings' ) }>
-				<ToggleControl
-					label={ __( 'Inherit query from template' ) }
-					help={ __(
-						'Toggle to use the global query context that is set with the current template, such as an archive or search. Disable to customize the settings independently.'
-					) }
-					checked={ !! inherit }
-					onChange={ ( value ) => setQuery( { inherit: !! value } ) }
-				/>
-				{ ! inherit && (
-					<SelectControl
-						options={ postTypesSelectOptions }
-						value={ postType }
-						label={ __( 'Post type' ) }
-						onChange={ onPostTypeChange }
+		<>
+			<InspectorControls>
+				<PanelBody title={ __( 'Settings' ) }>
+					<ToggleControl
+						label={ __( 'Inherit query from template' ) }
 						help={ __(
-							'WordPress contains different types of content and they are divided into collections called "Post types". By default there are a few different ones such as blog posts and pages, but plugins could add more.'
+							'Toggle to use the global query context that is set with the current template, such as an archive or search. Disable to customize the settings independently.'
 						) }
+						checked={ !! inherit }
+						onChange={ ( value ) =>
+							setQuery( { inherit: !! value } )
+						}
 					/>
-				) }
-				{ displayLayout?.type === 'flex' && (
-					<>
-						<RangeControl
-							label={ __( 'Columns' ) }
-							value={ displayLayout.columns }
-							onChange={ ( value ) =>
-								setDisplayLayout( { columns: value } )
-							}
-							min={ 2 }
-							max={ Math.max( 6, displayLayout.columns ) }
+					{ ! inherit && (
+						<SelectControl
+							options={ postTypesSelectOptions }
+							value={ postType }
+							label={ __( 'Post type' ) }
+							onChange={ onPostTypeChange }
+							help={ __(
+								'WordPress contains different types of content and they are divided into collections called "Post types". By default there are a few different ones such as blog posts and pages, but plugins could add more.'
+							) }
 						/>
-						{ displayLayout.columns > 6 && (
-							<Notice status="warning" isDismissible={ false }>
-								{ __(
-									'This column count exceeds the recommended amount and may cause visual breakage.'
-								) }
-							</Notice>
-						) }
-					</>
-				) }
-				{ ! inherit && (
-					<OrderControl
-						{ ...{ order, orderBy } }
-						onChange={ setQuery }
-					/>
-				) }
-				{ ! inherit && showSticky && (
-					<StickyControl
-						value={ sticky }
-						onChange={ ( value ) => setQuery( { sticky: value } ) }
-					/>
-				) }
-			</PanelBody>
-			{ ! inherit && (
-				<PanelBody title={ __( 'Filters' ) }>
-					<TaxonomyControls onChange={ setQuery } query={ query } />
-					<AuthorControl value={ authorIds } onChange={ setQuery } />
-					<TextControl
-						label={ __( 'Keyword' ) }
-						value={ querySearch }
-						onChange={ setQuerySearch }
-					/>
-					{ isPostTypeHierarchical && (
-						<ParentControl
-							parents={ parents }
-							postType={ postType }
+					) }
+					{ displayLayout?.type === 'flex' && (
+						<>
+							<RangeControl
+								label={ __( 'Columns' ) }
+								value={ displayLayout.columns }
+								onChange={ ( value ) =>
+									setDisplayLayout( { columns: value } )
+								}
+								min={ 2 }
+								max={ Math.max( 6, displayLayout.columns ) }
+							/>
+							{ displayLayout.columns > 6 && (
+								<Notice
+									status="warning"
+									isDismissible={ false }
+								>
+									{ __(
+										'This column count exceeds the recommended amount and may cause visual breakage.'
+									) }
+								</Notice>
+							) }
+						</>
+					) }
+					{ ! inherit && (
+						<OrderControl
+							{ ...{ order, orderBy } }
 							onChange={ setQuery }
 						/>
 					) }
+					{ ! inherit && showSticky && (
+						<StickyControl
+							value={ sticky }
+							onChange={ ( value ) =>
+								setQuery( { sticky: value } )
+							}
+						/>
+					) }
 				</PanelBody>
+			</InspectorControls>
+			{ ! inherit && (
+				<InspectorControls>
+					<ToolsPanel
+						className="block-library-query-toolspanel__filters"
+						label={ __( 'Filters' ) }
+						resetAll={ () => {
+							setQuery( {
+								author: '',
+								parents: [],
+								search: '',
+								taxQuery: null,
+							} );
+							setQuerySearch( '' );
+						} }
+					>
+						{ !! taxonomiesInfo?.length && (
+							<ToolsPanelItem
+								label={ __( 'Taxonomies' ) }
+								hasValue={ () =>
+									Object.values( taxQuery || {} ).some(
+										( terms ) => !! terms.length
+									)
+								}
+								onDeselect={ () =>
+									setQuery( { taxQuery: null } )
+								}
+							>
+								<TaxonomyControls
+									onChange={ setQuery }
+									query={ query }
+								/>
+							</ToolsPanelItem>
+						) }
+						<ToolsPanelItem
+							hasValue={ () => !! authorIds }
+							label={ __( 'Authors' ) }
+							onDeselect={ () => setQuery( { author: '' } ) }
+						>
+							<AuthorControl
+								value={ authorIds }
+								onChange={ setQuery }
+							/>
+						</ToolsPanelItem>
+						<ToolsPanelItem
+							hasValue={ () => !! querySearch }
+							label={ __( 'Keyword' ) }
+							onDeselect={ () => setQuerySearch( '' ) }
+						>
+							<TextControl
+								label={ __( 'Keyword' ) }
+								value={ querySearch }
+								onChange={ setQuerySearch }
+							/>
+						</ToolsPanelItem>
+						{ isPostTypeHierarchical && (
+							<ToolsPanelItem
+								hasValue={ () => !! parents?.length }
+								label={ __( 'Parents' ) }
+								onDeselect={ () => setQuery( { parents: [] } ) }
+							>
+								<ParentControl
+									parents={ parents }
+									postType={ postType }
+									onChange={ setQuery }
+								/>
+							</ToolsPanelItem>
+						) }
+					</ToolsPanel>
+				</InspectorControls>
 			) }
-		</InspectorControls>
+		</>
 	);
 }
diff --git a/packages/block-library/src/query/edit/inspector-controls/taxonomy-controls.js b/packages/block-library/src/query/edit/inspector-controls/taxonomy-controls.js
index 7778996f63ff4..297ea8321985e 100644
--- a/packages/block-library/src/query/edit/inspector-controls/taxonomy-controls.js
+++ b/packages/block-library/src/query/edit/inspector-controls/taxonomy-controls.js
@@ -33,8 +33,8 @@ const getTermIdByTermValue = ( termsMappedByName, termValue ) => {
 	}
 };
 
-function TaxonomyControls( { onChange, query } ) {
-	const taxonomies = useTaxonomies( query.postType );
+export const useTaxonomiesInfo = ( postType ) => {
+	const taxonomies = useTaxonomies( postType );
 	const taxonomiesInfo = useSelect(
 		( select ) => {
 			const { getEntityRecords } = select( coreStore );
@@ -51,6 +51,11 @@ function TaxonomyControls( { onChange, query } ) {
 		},
 		[ taxonomies ]
 	);
+	return taxonomiesInfo;
+};
+
+export function TaxonomyControls( { onChange, query } ) {
+	const taxonomiesInfo = useTaxonomiesInfo( query.postType );
 	const onTermsChange = ( taxonomySlug ) => ( newTermValues ) => {
 		const taxonomyInfo = taxonomiesInfo.find(
 			( { slug } ) => slug === taxonomySlug
@@ -102,17 +107,19 @@ function TaxonomyControls( { onChange, query } ) {
 						return null;
 					}
 					return (
-						<FormTokenField
+						<div
 							key={ slug }
-							label={ name }
-							value={ getExistingTaxQueryValue( slug ) }
-							suggestions={ terms.names }
-							onChange={ onTermsChange( slug ) }
-						/>
+							className="block-library-query-inspector__taxonomy-control"
+						>
+							<FormTokenField
+								label={ name }
+								value={ getExistingTaxQueryValue( slug ) }
+								suggestions={ terms.names }
+								onChange={ onTermsChange( slug ) }
+							/>
+						</div>
 					);
 				} ) }
 		</>
 	);
 }
-
-export default TaxonomyControls;
diff --git a/packages/block-library/src/query/editor.scss b/packages/block-library/src/query/editor.scss
index c8c9650d83722..e6eead11f152c 100644
--- a/packages/block-library/src/query/editor.scss
+++ b/packages/block-library/src/query/editor.scss
@@ -43,3 +43,12 @@
 		max-height: none;
 	}
 }
+
+.block-library-query-toolspanel__filters {
+	.components-form-token-field__help {
+		margin-bottom: 0;
+	}
+	.block-library-query-inspector__taxonomy-control:not(:last-child) {
+		margin-bottom: $grid-unit-30;
+	}
+}