diff --git a/CHANGELOG.md b/CHANGELOG.md
index e2b362906f2..59528981ad2 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -32,6 +32,7 @@ Docs: https://docs.openclaw.ai
 - Docs/Mintlify: fix MDX marker syntax on Perplexity, Model Providers, Moonshot, and exec approvals pages so local docs preview no longer breaks rendering or leaves stale pages unpublished. (#46695) Thanks @velvet-shark.
 - Email/webhook wrapping: sanitize sender and subject metadata before external-content wrapping so metadata fields cannot break the wrapper structure. Thanks @vincentkoc.
 - Node/startup: remove leftover debug `console.log("node host PATH: ...")` that printed the resolved PATH on every `openclaw node run` invocation. (#46411)
+- Nodes/pending actions: re-check queued foreground actions against the current node command policy before returning them to the node. Thanks @vincentkoc.
 
 ## 2026.3.13
 
diff --git a/src/gateway/server-methods/nodes.invoke-wake.test.ts b/src/gateway/server-methods/nodes.invoke-wake.test.ts
index fc01f718bbb..6e6e1b56d96 100644
--- a/src/gateway/server-methods/nodes.invoke-wake.test.ts
+++ b/src/gateway/server-methods/nodes.invoke-wake.test.ts
@@ -518,6 +518,63 @@ describe("node.invoke APNs wake path", () => {
     });
   });
 
+  it("drops queued actions that are no longer allowed at pull time", async () => {
+    mocks.loadApnsRegistration.mockResolvedValue(null);
+    mocks.resolveNodeCommandAllowlist.mockReturnValue(new Set(["canvas.navigate"]));
+    mocks.isNodeCommandAllowed.mockImplementation(
+      ({
+        command,
+        declaredCommands,
+        allowlist,
+      }: {
+        command: string;
+        declaredCommands: string[];
+        allowlist: Set<string>;
+      }) => {
+        if (!allowlist.has(command)) {
+          return { ok: false, reason: "command not allowlisted" };
+        }
+        if (!declaredCommands.includes(command)) {
+          return { ok: false, reason: "command not declared by node" };
+        }
+        return { ok: true };
+      },
+    );
+
+    const nodeRegistry = {
+      get: vi.fn(() => ({
+        nodeId: "ios-node-policy",
+        commands: ["camera.snap", "canvas.navigate"],
+        platform: "iOS 26.4.0",
+      })),
+      invoke: vi.fn().mockResolvedValue({
+        ok: false,
+        error: {
+          code: "NODE_BACKGROUND_UNAVAILABLE",
+          message: "NODE_BACKGROUND_UNAVAILABLE: canvas/camera/screen commands require foreground",
+        },
+      }),
+    };
+
+    await invokeNode({
+      nodeRegistry,
+      requestParams: {
+        nodeId: "ios-node-policy",
+        command: "camera.snap",
+        params: { facing: "front" },
+        idempotencyKey: "idem-policy",
+      },
+    });
+
+    const pullRespond = await pullPending("ios-node-policy");
+    const pullCall = pullRespond.mock.calls[0] as RespondCall | undefined;
+    expect(pullCall?.[0]).toBe(true);
+    expect(pullCall?.[1]).toMatchObject({
+      nodeId: "ios-node-policy",
+      actions: [],
+    });
+  });
+
   it("dedupes queued foreground actions by idempotency key", async () => {
     mocks.loadApnsRegistration.mockResolvedValue(null);
 
diff --git a/src/gateway/server-methods/nodes.ts b/src/gateway/server-methods/nodes.ts
index 7f78809abbb..ae6c8090b6c 100644
--- a/src/gateway/server-methods/nodes.ts
+++ b/src/gateway/server-methods/nodes.ts
@@ -26,6 +26,7 @@ import {
 import { isNodeCommandAllowed, resolveNodeCommandAllowlist } from "../node-command-policy.js";
 import { sanitizeNodeInvokeParamsForForwarding } from "../node-invoke-sanitize.js";
 import {
+  type ConnectParams,
   ErrorCodes,
   errorShape,
   validateNodeDescribeParams,
@@ -218,6 +219,38 @@ function listPendingNodeActions(nodeId: string): PendingNodeAction[] {
   return prunePendingNodeActions(nodeId, Date.now());
 }
 
+function resolveAllowedPendingNodeActions(params: {
+  nodeId: string;
+  client: { connect?: ConnectParams | null } | null;
+}): PendingNodeAction[] {
+  const pending = listPendingNodeActions(params.nodeId);
+  if (pending.length === 0) {
+    return pending;
+  }
+  const connect = params.client?.connect;
+  const declaredCommands = Array.isArray(connect?.commands) ? connect.commands : [];
+  const allowlist = resolveNodeCommandAllowlist(loadConfig(), {
+    platform: connect?.client?.platform,
+    deviceFamily: connect?.client?.deviceFamily,
+  });
+  const allowed = pending.filter((entry) => {
+    const result = isNodeCommandAllowed({
+      command: entry.command,
+      declaredCommands,
+      allowlist,
+    });
+    return result.ok;
+  });
+  if (allowed.length !== pending.length) {
+    if (allowed.length === 0) {
+      pendingNodeActionsById.delete(params.nodeId);
+    } else {
+      pendingNodeActionsById.set(params.nodeId, allowed);
+    }
+  }
+  return allowed;
+}
+
 function ackPendingNodeActions(nodeId: string, ids: string[]): PendingNodeAction[] {
   if (ids.length === 0) {
     return listPendingNodeActions(nodeId);
@@ -805,7 +838,7 @@ export const nodeHandlers: GatewayRequestHandlers = {
       return;
     }
 
-    const pending = listPendingNodeActions(trimmedNodeId);
+    const pending = resolveAllowedPendingNodeActions({ nodeId: trimmedNodeId, client });
     respond(
       true,
       {