diff --git a/CHANGELOG.md b/CHANGELOG.md
index 4731001ac..005197e10 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -13,6 +13,7 @@ Docs: https://docs.openclaw.ai
 
 ### Fixes
 
+- Gateway/Auth: allow authenticated clients across roles/scopes to call `health` while preserving role and scope enforcement for non-health methods. (#19699) thanks @Nachx639.
 - Gateway/Hooks: include transform export name in hook-transform cache keys so distinct exports from the same module do not reuse the wrong cached transform function. (#13855) thanks @mcaxtr.
 - Gateway/Control UI: return 404 for missing static-asset paths instead of serving SPA fallback HTML, while preserving client-route fallback behavior for extensionless and non-asset dotted paths. (#12060) thanks @mcaxtr.
 - Gateway/Pairing: prevent device-token rotate scope escalation by enforcing an approved-scope baseline, preserving approved scopes across metadata updates, and rejecting rotate requests that exceed approved role scope implications. (#20703) thanks @coygeek.
diff --git a/src/gateway/server-methods.ts b/src/gateway/server-methods.ts
index 0ac6ba1ec..d1bc16630 100644
--- a/src/gateway/server-methods.ts
+++ b/src/gateway/server-methods.ts
@@ -39,6 +39,9 @@ function authorizeGatewayMethod(method: string, client: GatewayRequestOptions["c
   if (!client?.connect) {
     return null;
   }
+  if (method === "health") {
+    return null;
+  }
   const role = client.connect.role ?? "operator";
   const scopes = client.connect.scopes ?? [];
   if (isNodeRoleMethod(method)) {
diff --git a/src/gateway/server.auth.e2e.test.ts b/src/gateway/server.auth.e2e.test.ts
index 01c5e8438..74bfd09ac 100644
--- a/src/gateway/server.auth.e2e.test.ts
+++ b/src/gateway/server.auth.e2e.test.ts
@@ -111,9 +111,9 @@ async function expectMissingScopeAfterConnect(
   try {
     const res = await connectReq(ws, opts);
     expect(res.ok).toBe(true);
-    const health = await rpcReq(ws, "health");
-    expect(health.ok).toBe(false);
-    expect(health.error?.message).toContain("missing scope");
+    const status = await rpcReq(ws, "status");
+    expect(status.ok).toBe(false);
+    expect(status.error?.message).toContain("missing scope");
   } finally {
     ws.close();
   }
@@ -363,6 +363,18 @@ describe("gateway server auth/connect", () => {
       await expectMissingScopeAfterConnect(port, { device: null });
     });
 
+    test("allows health when scopes are empty", async () => {
+      const ws = await openWs(port);
+      try {
+        const res = await connectReq(ws, { scopes: [] });
+        expect(res.ok).toBe(true);
+        const health = await rpcReq(ws, "health");
+        expect(health.ok).toBe(true);
+      } finally {
+        ws.close();
+      }
+    });
+
     test("does not grant admin when scopes are omitted", async () => {
       const ws = await openWs(port);
       const token = resolveGatewayTokenOrEnv();
@@ -400,9 +412,11 @@ describe("gateway server auth/connect", () => {
       expect(presenceScopes).toEqual([]);
       expect(presenceScopes).not.toContain("operator.admin");
 
+      const status = await rpcReq(ws, "status");
+      expect(status.ok).toBe(false);
+      expect(status.error?.message).toContain("missing scope");
       const health = await rpcReq(ws, "health");
-      expect(health.ok).toBe(false);
-      expect(health.error?.message).toContain("missing scope");
+      expect(health.ok).toBe(true);
 
       ws.close();
     });
@@ -680,9 +694,11 @@ describe("gateway server auth/connect", () => {
       const ws = await openTailscaleWs(port);
       const res = await connectReq(ws, { token: "secret", device: null });
       expect(res.ok).toBe(true);
+      const status = await rpcReq(ws, "status");
+      expect(status.ok).toBe(false);
+      expect(status.error?.message).toContain("missing scope");
       const health = await rpcReq(ws, "health");
-      expect(health.ok).toBe(false);
-      expect(health.error?.message).toContain("missing scope");
+      expect(health.ok).toBe(true);
       ws.close();
     });
   });
diff --git a/src/gateway/server.roles-allowlist-update.e2e.test.ts b/src/gateway/server.roles-allowlist-update.e2e.test.ts
index abafb9997..5ed4f8575 100644
--- a/src/gateway/server.roles-allowlist-update.e2e.test.ts
+++ b/src/gateway/server.roles-allowlist-update.e2e.test.ts
@@ -96,6 +96,9 @@ describe("gateway role enforcement", () => {
       const statusRes = await rpcReq(nodeWs, "status", {});
       expect(statusRes.ok).toBe(false);
       expect(statusRes.error?.message ?? "").toContain("unauthorized role");
+
+      const healthRes = await rpcReq(nodeWs, "health", {});
+      expect(healthRes.ok).toBe(true);
     } finally {
       nodeWs.close();
     }