diff --git a/doc/configuration.txt b/doc/configuration.txt
index 7bcf22cc0..b1f471c6a 100644
--- a/doc/configuration.txt
+++ b/doc/configuration.txt
@@ -17621,6 +17621,18 @@ id <id>
   must be strictly positive and unique within the listener/frontend. This
   option can only be used when defining only a single socket.
 
+idle-ping <delay>
+  May be used in the following contexts: tcp, http, log
+
+  Define an interval for periodic liveliness on idle frontend connections. If
+  the peer is unable to respond before the next scheduled test, the connection
+  is closed. Else, the client timeout is refreshed and the connection is kept.
+  Note that http-request/http-keep-alive timers run in parallel and are not
+  refreshed by idle-ping.
+
+  This feature relies on specific underlying protocol support. For now, only H2
+  mux implements it. Idle-ping is simply ignored by other protocols.
+
 interface <interface>
   Restricts the socket to a specific interface. When specified, only packets
   received from that particular interface are processed by the socket. This is
diff --git a/include/haproxy/connection.h b/include/haproxy/connection.h
index 981c94803..2e79a129f 100644
--- a/include/haproxy/connection.h
+++ b/include/haproxy/connection.h
@@ -716,8 +716,8 @@ static inline int conn_idle_ping(const struct connection *conn)
 		return srv ? srv->idle_ping : TICK_ETERNITY;
 	}
 	else {
-		/* TODO */
-		return TICK_ETERNITY;
+		struct session *sess = conn->owner;
+		return sess->listener->bind_conf->idle_ping;
 	}
 }
 
diff --git a/include/haproxy/listener-t.h b/include/haproxy/listener-t.h
index becc83b01..7518aa6ec 100644
--- a/include/haproxy/listener-t.h
+++ b/include/haproxy/listener-t.h
@@ -193,6 +193,7 @@ struct bind_conf {
 	unsigned int analysers;    /* bitmap of required protocol analysers */
 	int maxseg;                /* for TCP, advertised MSS */
 	int tcp_ut;                /* for TCP, user timeout */
+	int idle_ping;             /* MUX idle-ping interval in ms */
 	int maxaccept;             /* if set, max number of connections accepted at once (-1 when disabled) */
 	unsigned int backlog;      /* if set, listen backlog */
 	int maxconn;               /* maximum connections allowed on this listener */
diff --git a/src/listener.c b/src/listener.c
index 95a5fef70..c161c885b 100644
--- a/src/listener.c
+++ b/src/listener.c
@@ -2216,6 +2216,44 @@ static int bind_parse_id(char **args, int cur_arg, struct proxy *px, struct bind
 	return 0;
 }
 
+/* Parse the "idle-ping" bind keyword */
+static int bind_parse_idle_ping(char **args, int cur_arg,
+                                struct proxy *px, struct bind_conf *conf,
+                                char **err)
+{
+	const char *res;
+	unsigned int value;
+
+	if (!*(args[cur_arg+1])) {
+		memprintf(err, "'%s' expects an argument.", args[cur_arg]);
+		goto error;
+	}
+
+	res = parse_time_err(args[cur_arg+1], &value, TIME_UNIT_MS);
+	if (res == PARSE_TIME_OVER) {
+		memprintf(err, "timer overflow in argument <%s> to <%s> on bind line, maximum value is 2147483647 ms (~24.8 days).",
+		          args[cur_arg+1], args[cur_arg]);
+		goto error;
+	}
+	else if (res == PARSE_TIME_UNDER) {
+		memprintf(err, "timer underflow in argument <%s> to <%s> on bind line, minimum non-null value is 1 ms.",
+		          args[cur_arg+1], args[cur_arg]);
+		goto error;
+	}
+	else if (res) {
+		memprintf(err, "unexpected character '%c' in '%s' argument on bind line.",
+		          *res, args[cur_arg]);
+		goto error;
+	}
+
+	conf->idle_ping = value;
+
+	return 0;
+
+  error:
+	return ERR_ALERT | ERR_FATAL;
+}
+
 /* Complete a bind_conf by parsing the args after the address. <args> is the
  * arguments array, <cur_arg> is the first one to be considered. <section> is
  * the section name to report in error messages, and <file> and <linenum> are
@@ -2584,6 +2622,7 @@ static struct bind_kw_list bind_kws = { "ALL", { }, {
 	{ "backlog",      bind_parse_backlog,      1, 0 }, /* set backlog of listening socket */
 	{ "guid-prefix",  bind_parse_guid_prefix,  1, 1 }, /* set guid of listening socket */
 	{ "id",           bind_parse_id,           1, 1 }, /* set id of listening socket */
+	{ "idle-ping",    bind_parse_idle_ping,    1, 1 }, /* activate idle ping if mux support it */
 	{ "maxconn",      bind_parse_maxconn,      1, 0 }, /* set maxconn of listening socket */
 	{ "name",         bind_parse_name,         1, 1 }, /* set name of listening socket */
 	{ "nbconn",       bind_parse_nbconn,       1, 1 }, /* set number of connection on active preconnect */
diff --git a/src/mux_h2.c b/src/mux_h2.c
index 7f99ffd54..86e39e5e2 100644
--- a/src/mux_h2.c
+++ b/src/mux_h2.c
@@ -863,6 +863,7 @@ static void h2c_update_timeout(struct h2c *h2c)
 		else {
 			int dft = TICK_ETERNITY;
 			int exp = TICK_ETERNITY;
+			int ping = TICK_ETERNITY;
 
 			/* idle connection : no stream, no output data */
 			if (h2c->flags & (H2_CF_GOAWAY_SENT|H2_CF_GOAWAY_FAILED)) {
@@ -904,13 +905,19 @@ static void h2c_update_timeout(struct h2c *h2c)
 
 					is_idle_conn = 1;
 				}
-				else if (!(h2c->proxy->flags & (PR_FL_DISABLED|PR_FL_STOPPED))) {
+				else {
 					/* Only idle-ping is relevant for backend idle conn. */
-					exp = tick_add_ifset(now_ms, conn_idle_ping(h2c->conn));
-					if (tick_isset(exp) && !(h2c->flags & H2_CF_IDL_PING_SENT)) {
-						/* If PING timer selected, set flag to trigger its emission rather than conn deletion on next timeout. */
-						h2c->flags |= H2_CF_IDL_PING;
-					}
+					exp = TICK_ETERNITY;
+				}
+
+				if (!(h2c->proxy->flags & (PR_FL_DISABLED|PR_FL_STOPPED)))
+					ping = tick_add_ifset(now_ms, conn_idle_ping(h2c->conn));
+
+				exp = tick_first(exp, ping);
+				/* If PING timer selected, set flag to trigger its emission rather than conn deletion on next timeout. */
+				if (tick_isset(exp) && exp == ping && ping != dft &&
+				    !(h2c->flags & H2_CF_IDL_PING_SENT)) {
+					h2c->flags |= H2_CF_IDL_PING;
 				}
 			}