The Medicago truncatula-Sinorhizobium sp. symbiosis is one of the most effective nitrogen-fixing interaction. In the Inverted Repeat-Lacking Clade (IRLC) legumes, including M. truncatula, rhizobia undergo terminal differentiation resulting in elongated and endoreduplicated bacteroids specialised for nitrogen fixation. This irreversible transition of rhizobia is controlled by the host plant and mediated by nodule-specific cysteine-rich (NCR) peptides, of which about 700 are encoded by a large gene family in the M. truncatula genome. Recent studies have demonstrated that some NCR peptides, NCR169, NCR211 and NCR247, are unique and essential for nitrogen-fixing symbiosis. By analysing the symbiotic phenotype of ineffective M. truncatula mutants, Mtsym19, Mtsym20 and NF-FN9363, we found that the nodulation phenotype, the bacteroid and symbiotic host cell differentiation were defective likewise in the formerly studied ncr mutants, Mtdnf-1 (ncr211) and Mtdnf7-2 (ncr169). We demonstrated that the incomplete differentiation of bacteroids triggers premature senescence of rhizobia in the nitrogen fixation zones of mutant nodules. We proved that Mtsym19 and Mtsym20 mutants are allelic and the MtSYM19/20 gene encodes the peptide NCR-new35. We identified a deletion of four NCR genes in the symbiotic locus of NF-FN9363 and demonstrated that the lack of NCR343 is responsible for the ineffective symbiosis of NF-FN9363. The activity of NCR-new35 is significantly lower and limited to the transition zone of the nodule compared with other crucial NCR genes, NCR169, NCR211 and NCR343 which are highly expressed in the interzone and nitrogen fixation zone. The fluorescent protein-tagged version of NCR343 and NCR-new35 localize to the symbiotic compartment. We also demonstrated that the conserved first cysteine residues are required for the symbiotic function of NCR343 and NCR-new35. Our discovery added two additional members to the group of NCR genes essential for nitrogen-fixing symbiosis in M. truncatula.