diff --git a/docs/docs/configuration/reference.md b/docs/docs/configuration/reference.md
index c12984d18..3d963a5bd 100644
--- a/docs/docs/configuration/reference.md
+++ b/docs/docs/configuration/reference.md
@@ -240,6 +240,8 @@ birdseye:
     scaling_factor: 2.0
     # Optional: Maximum number of cameras to show at one time, showing the most recent (default: show all cameras)
     max_cameras: 1
+  # Optional: Frames-per-second to re-send the last composed Birdseye frame when idle (no motion or active updates). (default: shown below)
+  idle_heartbeat_fps: 0.0
 
 # Optional: ffmpeg configuration
 # More information about presets at https://docs.frigate.video/configuration/ffmpeg_presets
diff --git a/docs/docs/configuration/restream.md b/docs/docs/configuration/restream.md
index 43c421dd3..0ab7a170c 100644
--- a/docs/docs/configuration/restream.md
+++ b/docs/docs/configuration/restream.md
@@ -24,6 +24,11 @@ birdseye:
   restream: True
 ```
 
+:::tip 
+
+To improve connection speed when using Birdseye via restream you can enable a small idle heartbeat by setting `birdseye.idle_heartbeat_fps` to a low value (e.g. `1–2`).  This makes Frigate periodically push the last frame even when no motion is detected, reducing initial connection latency.
+
+:::
 ### Securing Restream With Authentication
 
 The go2rtc restream can be secured with RTSP based username / password authentication. Ex:
@@ -164,4 +169,4 @@ NOTE: The output will need to be passed with two curly braces `{{output}}`
 go2rtc:
   streams:
     stream1: exec:ffmpeg -hide_banner -re -stream_loop -1 -i /media/BigBuckBunny.mp4 -c copy -rtsp_transport tcp -f rtsp {{output}}
-```
+```
\ No newline at end of file
diff --git a/frigate/config/camera/birdseye.py b/frigate/config/camera/birdseye.py
index b7e8a7117..1e6f0f335 100644
--- a/frigate/config/camera/birdseye.py
+++ b/frigate/config/camera/birdseye.py
@@ -55,6 +55,12 @@ class BirdseyeConfig(FrigateBaseModel):
     layout: BirdseyeLayoutConfig = Field(
         default_factory=BirdseyeLayoutConfig, title="Birdseye Layout Config"
     )
+    idle_heartbeat_fps: float = Field(
+        default=0.0,
+        ge=0.0,
+        le=10.0,
+        title="Idle heartbeat FPS (0 disables, max 10)",
+    )
 
 
 # uses BaseModel because some global attributes are not available at the camera level
diff --git a/frigate/output/birdseye.py b/frigate/output/birdseye.py
index 0939b5ce4..eb23c2573 100644
--- a/frigate/output/birdseye.py
+++ b/frigate/output/birdseye.py
@@ -9,6 +9,7 @@ import os
 import queue
 import subprocess as sp
 import threading
+import time
 import traceback
 from typing import Any, Optional
 
@@ -791,6 +792,10 @@ class Birdseye:
         self.frame_manager = SharedMemoryFrameManager()
         self.stop_event = stop_event
         self.requestor = InterProcessRequestor()
+        self.idle_fps: float = self.config.birdseye.idle_heartbeat_fps
+        self._idle_interval: Optional[float] = (
+            (1.0 / self.idle_fps) if self.idle_fps > 0 else None
+        )
 
         if config.birdseye.restream:
             self.birdseye_buffer = self.frame_manager.create(
@@ -848,6 +853,15 @@ class Birdseye:
             if frame_layout_changed:
                 coordinates = self.birdseye_manager.get_camera_coordinates()
                 self.requestor.send_data(UPDATE_BIRDSEYE_LAYOUT, coordinates)
+        if self._idle_interval:
+            now = time.monotonic()
+            is_idle = len(self.birdseye_manager.camera_layout) == 0
+            if (
+                is_idle
+                and (now - self.birdseye_manager.last_output_time)
+                >= self._idle_interval
+            ):
+                self.__send_new_frame()
 
     def stop(self) -> None:
         self.converter.join()