diff --git a/docs/docs/configuration/reference.md b/docs/docs/configuration/reference.md
index 67d2515cb..e65ba244c 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: 10.0
 
 # 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..4930fb1e8 100644
--- a/docs/docs/configuration/restream.md
+++ b/docs/docs/configuration/restream.md
@@ -24,6 +24,12 @@ birdseye:
   restream: True
 ```
 
+**Tip:** To improve connection speed when using Birdseye via RTSP or WebRTC,
+ 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 +170,4 @@ 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..e968956b9 100644
--- a/frigate/config/camera/birdseye.py
+++ b/frigate/config/camera/birdseye.py
@@ -55,7 +55,11 @@ class BirdseyeConfig(FrigateBaseModel):
     layout: BirdseyeLayoutConfig = Field(
         default_factory=BirdseyeLayoutConfig, title="Birdseye Layout Config"
     )
-
+    idle_heartbeat_fps: float = Field(
+        default=0.0,
+        ge=0.0,
+        title="Idle heartbeat FPS (0 disables)",
+    )
 
 # uses BaseModel because some global attributes are not available at the camera level
 class BirdseyeCameraConfig(BaseModel):
diff --git a/frigate/output/birdseye.py b/frigate/output/birdseye.py
index 0939b5ce4..770078b69 100644
--- a/frigate/output/birdseye.py
+++ b/frigate/output/birdseye.py
@@ -11,6 +11,7 @@ import subprocess as sp
 import threading
 import traceback
 from typing import Any, Optional
+import time
 
 import cv2
 import numpy as np
@@ -791,7 +792,16 @@ class Birdseye:
         self.frame_manager = SharedMemoryFrameManager()
         self.stop_event = stop_event
         self.requestor = InterProcessRequestor()
+        self._heartbeat_thread = None
 
+        # --- Optional idle heartbeat (disabled by default) ---
+        # If FRIGATE_BIRDSEYE_IDLE_FPS > 0, periodically re-send the last frame
+        # when no frames have been output recently. This improves client attach times
+        # without altering default behavior.
+        self.idle_fps = float(self.config.birdseye.idle_heartbeat_fps or 0.0)
+        self.idle_fps = max(0.0, self.idle_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(
                 "birdseye",
@@ -801,6 +811,16 @@ class Birdseye:
         self.converter.start()
         self.broadcaster.start()
 
+
+        # Start heartbeat loop only if enabled
+        if self._idle_interval:
+            self._heartbeat_thread = threading.Thread(
+                target=self._idle_heartbeat_loop,
+                name="birdseye_idle_heartbeat",
+                daemon=True,
+            )
+            self._heartbeat_thread.start()
+
     def __send_new_frame(self) -> None:
         frame_bytes = self.birdseye_manager.frame.tobytes()
 
@@ -849,6 +869,27 @@ class Birdseye:
                 coordinates = self.birdseye_manager.get_camera_coordinates()
                 self.requestor.send_data(UPDATE_BIRDSEYE_LAYOUT, coordinates)
 
+    def _idle_heartbeat_loop(self) -> None:
+        """
+        Periodically re-send the last composed frame when idle.
+        Active only if FRIGATE_BIRDSEYE_IDLE_FPS > 0.
+        """
+        # Small sleep granularity to check often without busy-spinning.
+        min_sleep = 0.2
+        while not self.stop_event.is_set():
+            try:
+                if self._idle_interval:
+                    now = datetime.datetime.now().timestamp()
+                    if (now - self.birdseye_manager.last_output_time) >= self._idle_interval:
+                        self.__send_new_frame()
+            finally:
+                # Sleep at the smaller of idle interval or a safe minimum
+                sleep_for = self._idle_interval if self._idle_interval and self._idle_interval < min_sleep else min_sleep
+                time.sleep(sleep_for)
+
     def stop(self) -> None:
         self.converter.join()
         self.broadcaster.join()
+        if self._heartbeat_thread and self._heartbeat_thread.is_alive():
+            # the thread is daemon=True; join a moment just for cleanliness
+            self._heartbeat_thread.join(timeout=0.2)