diff --git a/CHANGELOG.md b/CHANGELOG.md
index 77faeb80eb..6b9340b104 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -138,6 +138,10 @@ Adding a new version? You'll need three changes:
 - Fixed Kong client status check causing unnecessary `config update failed` errors
   and `KongConfigurationApplyFailed` events being generated.
   [#6689](https://github.com/Kong/kubernetes-ingress-controller/pull/6689)
+- Do not emit error logs when group and kind of `parentRef` in a route does not
+  point to a `Gateway` as they can point to other kinds of resources like
+  `Service` when used in service mesh solutions.
+  [#6692](https://github.com/Kong/kubernetes-ingress-controller/pull/6692)
 
 ### Added
 
diff --git a/internal/controllers/gateway/route_predicates.go b/internal/controllers/gateway/route_predicates.go
index 1e1ee73dd8..0f7fca58a7 100644
--- a/internal/controllers/gateway/route_predicates.go
+++ b/internal/controllers/gateway/route_predicates.go
@@ -67,9 +67,8 @@ func IsRouteAttachedToReconciledGateway[routeT gatewayapi.RouteT](
 		if parentRef.Group != nil {
 			group = string(*parentRef.Group)
 		}
-
-		switch {
-		case kind == "Gateway" && group == gatewayapi.GroupVersion.Group:
+		// Check the parent gateway if the parentRef points to a gateway that is possible to be controlled by KIC.
+		if kind == "Gateway" && group == gatewayapi.GroupVersion.Group {
 			var gateway gatewayapi.Gateway
 			err := cl.Get(context.Background(), k8stypes.NamespacedName{Namespace: namespace, Name: string(parentRef.Name)}, &gateway)
 			if err != nil {
@@ -87,13 +86,9 @@ func IsRouteAttachedToReconciledGateway[routeT gatewayapi.RouteT](
 			if isGatewayClassControlled(&gatewayClass) {
 				return true
 			}
-		default:
-			log.Error(
-				fmt.Errorf("unsupported parentRef kind %s and group %s", kind, group),
-				"Got an unexpected kind and group when checking route's parentRefs",
-			)
-			return false
 		}
+		// REVIEW: should we directly return false here if parentRef points to a non-Gateway object (like `Service`)?
+		// This means we do not reconcile the route when it is attaching to some non-Gateway parent, like using it for service mesh.
 	}
 
 	return false