diff --git a/changelogs/fragments/52895-docker_swarm-labels.yaml b/changelogs/fragments/52895-docker_swarm-labels.yaml
index edb0aabec4..4b9793007e 100644
--- a/changelogs/fragments/52895-docker_swarm-labels.yaml
+++ b/changelogs/fragments/52895-docker_swarm-labels.yaml
@@ -1,2 +1,3 @@
 bugfixes:
 - "docker_swarm - do not crash with older docker daemons (https://github.com/ansible/ansible/issues/51175)."
+- "docker_swarm - improve idempotency checking; ``rotate_worker_token`` and ``rotate_manager_token`` are now also used when all other parameters have not changed."
diff --git a/lib/ansible/modules/cloud/docker/docker_swarm.py b/lib/ansible/modules/cloud/docker/docker_swarm.py
index 3659f26b0d..4ca8bd78cb 100644
--- a/lib/ansible/modules/cloud/docker/docker_swarm.py
+++ b/lib/ansible/modules/cloud/docker/docker_swarm.py
@@ -353,12 +353,17 @@ class TaskParameters(DockerBaseClass):
 
     def compare_to_active(self, other):
         for k in self.__dict__:
-            if k in ('advertise_addr', 'listen_addr', 'rotate_worker_token', 'rotate_manager_token', 'spec'):
+            if k in ('advertise_addr', 'listen_addr', 'force_new_cluster', 'remote_addrs',
+                     'join_token', 'force', 'rotate_worker_token', 'rotate_manager_token', 'spec'):
                 continue
             if self.__dict__[k] is None:
                 continue
             if self.__dict__[k] != other.__dict__[k]:
                 return False
+        if self.rotate_worker_token:
+            return False
+        if self.rotate_manager_token:
+            return False
         return True