diff --git a/addons/project/models/project.py b/addons/project/models/project.py
index 10b91c7092b..09fef75a8a7 100644
--- a/addons/project/models/project.py
+++ b/addons/project/models/project.py
@@ -964,8 +964,6 @@ class Task(models.Model):
             return self.env['project.task']
         return children + children._get_all_subtasks()
     def action_open_parent_task(self):
-        if self.sudo().parent_id and self.sudo().parent_id.company_id.id not in self.env.companies.ids:
-            raise UserError(_('The parent task belongs to a company you do not have access to.'))
         return {
             'name': _('Parent Task'),
             'view_mode': 'form',
@@ -976,8 +974,6 @@ class Task(models.Model):
         }
 
     def action_subtask(self):
-        if self.sudo().subtask_project_id and self.sudo().subtask_project_id.company_id.id not in self.env.companies.ids:
-            raise UserError(_('The subtasks belong to a company you do not have access to.'))
         action = self.env.ref('project.project_task_action_sub_task').read()[0]
 
         # display all subtasks of current task
diff --git a/addons/project/tests/test_multicompany.py b/addons/project/tests/test_multicompany.py
index 3c807ae3e29..5fc6b0187e2 100644
--- a/addons/project/tests/test_multicompany.py
+++ b/addons/project/tests/test_multicompany.py
@@ -286,14 +286,6 @@ class TestMultiCompanyProject(TestMultiCompanyCommon):
                 self.assertEqual(task.company_id, task.project_id.subtask_project_id.company_id, "The company of the orphan subtask should be the one from its project.")
                 self.assertEqual(self.task_1.child_ids.ids, [task.id])
 
-                # trying to access the subtask in a company not allowed should raise an error
-                with self.assertRaises(UserError):
-                    self.task_1.with_context(allowed_company_ids=[self.company_a.id]).action_subtask()
-
-                # trying to access the parent task in a company not allowed should raise an error
-                with self.assertRaises(UserError):
-                    task.with_context(allowed_company_ids=[self.company_b.id]).action_open_parent_task()
-
         with self.sudo('employee-a'):
             with self.assertRaises(AccessError):
                 with Form(task) as task_form: