diff --git a/package/MDAnalysis/topology/tpr/utils.py b/package/MDAnalysis/topology/tpr/utils.py
index a6158333de..e959d71677 100644
--- a/package/MDAnalysis/topology/tpr/utils.py
+++ b/package/MDAnalysis/topology/tpr/utils.py
@@ -826,7 +826,7 @@ def do_moltype(data, symtab, fver):
                 bonds += list(ik_obj.process(ias))
             elif ik_obj.name in ['ANGLES', 'G96ANGLES', 'CROSS_BOND_BOND',
                                  'CROSS_BOND_ANGLE', 'UREY_BRADLEY', 'QANGLES',
-                                 'RESTRANGLES', 'TABANGLES']:
+                                 'RESTRANGLES', 'TABANGLES', 'LINEAR_ANGLES']:
                 angles += list(ik_obj.process(ias))
             elif ik_obj.name in ['PDIHS', 'RBDIHS', 'RESTRDIHS', 'CBTDIHS',
                                  'FOURDIHS', 'TABDIHS']:
diff --git a/testsuite/MDAnalysisTests/coordinates/test_tpr.py b/testsuite/MDAnalysisTests/coordinates/test_tpr.py
index 8f27c3fdea..a12b08c392 100644
--- a/testsuite/MDAnalysisTests/coordinates/test_tpr.py
+++ b/testsuite/MDAnalysisTests/coordinates/test_tpr.py
@@ -68,6 +68,7 @@
     TPR2020B2,
     INPCRD,
     TPR_gh_5145,
+    TPR_linear_angle,
 )
 import MDAnalysis as mda
 
@@ -80,6 +81,15 @@
 @pytest.mark.parametrize(
     "tpr_file, exp_first_atom, exp_last_atom, exp_shape, exp_vel_first_atom, exp_vel_last_atom",
     [
+        # see gh-5361 for CO2/linear angle:
+        (
+            TPR_linear_angle,
+            [1.250, 1.250, 1.250],
+            [1.250, 1.260, 1.136],
+            (3, 3),
+            [0, 0, 0],
+            [0, 0, 0],
+        ),
         # this case is an alanine dipeptide
         # with neural network potential active
         # and nonzero velocities
diff --git a/testsuite/MDAnalysisTests/data/tprs/Linear_Angle.tpr b/testsuite/MDAnalysisTests/data/tprs/Linear_Angle.tpr
new file mode 100644
index 0000000000..28fb043689
Binary files /dev/null and b/testsuite/MDAnalysisTests/data/tprs/Linear_Angle.tpr differ
diff --git a/testsuite/MDAnalysisTests/datafiles.py b/testsuite/MDAnalysisTests/datafiles.py
index 7083c10e30..0289d64aed 100644
--- a/testsuite/MDAnalysisTests/datafiles.py
+++ b/testsuite/MDAnalysisTests/datafiles.py
@@ -137,6 +137,7 @@
     "TPR2024_4",
     "TPR2025_0",
     "TPR2026_0",
+    "TPR_linear_angle",
     "TPR510_bonded",
     "TPR2016_bonded",
     "TPR2018_bonded",
@@ -574,6 +575,7 @@
 TPR2024_4 = (_data_ref / "tprs/2lyz_gmx_2024_4.tpr").as_posix()
 TPR2025_0 = (_data_ref / "tprs/2lyz_gmx_2025_0.tpr").as_posix()
 TPR2026_0 = (_data_ref / "tprs/2lyz_gmx_2026_0.tpr").as_posix()
+TPR_linear_angle = (_data_ref / "tprs/Linear_Angle.tpr").as_posix()
 # double precision
 TPR455Double = (_data_ref / "tprs/drew_gmx_4.5.5.double.tpr").as_posix()
 TPR460 = (_data_ref / "tprs/ab42_gmx_4.6.tpr").as_posix()
diff --git a/testsuite/MDAnalysisTests/topology/test_tprparser.py b/testsuite/MDAnalysisTests/topology/test_tprparser.py
index 354b41cbed..c53241b52d 100644
--- a/testsuite/MDAnalysisTests/topology/test_tprparser.py
+++ b/testsuite/MDAnalysisTests/topology/test_tprparser.py
@@ -51,7 +51,8 @@
                                         TPR2023_bonded, TPR2024_4_bonded,
                                         TPR2025_0_bonded, TPR2024_bonded,
                                         TPR2026_0_bonded,
-                                        TPR_NNPOT_2025_0, TPR_NNPOT_2026_0)
+                                        TPR_NNPOT_2025_0, TPR_NNPOT_2026_0,
+                                        TPR_linear_angle)
 from numpy.testing import assert_equal
 
 # fmt: on
@@ -438,3 +439,12 @@ def test_resids(resid_from_one, resid_addition):
         resids,
         err_msg="tpr_resid_from_one kwarg not switching resids",
     )
+
+
+def test_gh_5361():
+    # GROMACS linear angle potential handling with CO2 example
+    u = mda.Universe(TPR_linear_angle)
+    actual = u.angles.to_indices()
+    expected = [[1, 0, 2]]
+    assert_equal(u.atoms.names, ["C", "O1", "O2"])
+    assert_equal(actual, expected)