diff --git a/CHANGELOG.md b/CHANGELOG.md
index 550083595..9276788eb 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -39,6 +39,7 @@ Docs: https://docs.openclaw.ai
 - Providers/OpenRouter: remove conflicting top-level `reasoning_effort` when injecting nested `reasoning.effort`, preventing OpenRouter 400 payload-validation failures for reasoning models. (#24120) thanks @tenequm.
 - Providers/Groq: avoid classifying Groq TPM limit errors as context overflow so throttling paths no longer trigger overflow recovery logic. (#16176) Thanks @dddabtc.
 - Gateway/WS: close repeated post-handshake `unauthorized role:*` request floods per connection and sample duplicate rejection logs, preventing a single misbehaving client from degrading gateway responsiveness. (#20168) Thanks @acy103, @vibecodooor, and @vincentkoc.
+- Gateway/Restart: treat child listener PIDs as owned by the service runtime PID during restart health checks to avoid false stale-process kills and restart timeouts on launchd/systemd. (#24696) Thanks @gumadeiras.
 - Config/Write: apply `unsetPaths` with immutable path-copy updates so config writes never mutate caller-provided objects, and harden `openclaw config get/set/unset` path traversal by rejecting prototype-key segments and inherited-property traversal. (#24134) thanks @frankekn.
 - Security/Exec: detect obfuscated commands before exec allowlist decisions and require explicit approval for obfuscation patterns. (#8592) Thanks @CornBrother0x and @vincentkoc.
 - Security/Skills: escape user-controlled prompt, filename, and output-path values in `openai-image-gen` HTML gallery generation to prevent stored XSS in generated `index.html` output. (#12538) Thanks @CornBrother0x.
diff --git a/src/cli/daemon-cli/restart-health.test.ts b/src/cli/daemon-cli/restart-health.test.ts
new file mode 100644
index 000000000..2dfb5cf59
--- /dev/null
+++ b/src/cli/daemon-cli/restart-health.test.ts
@@ -0,0 +1,66 @@
+import { beforeEach, describe, expect, it, vi } from "vitest";
+import type { GatewayService } from "../../daemon/service.js";
+import type { PortListenerKind, PortUsage } from "../../infra/ports.js";
+
+const inspectPortUsage = vi.hoisted(() => vi.fn<(port: number) => Promise<PortUsage>>());
+const classifyPortListener = vi.hoisted(() =>
+  vi.fn<(_listener: unknown, _port: number) => PortListenerKind>(() => "gateway"),
+);
+
+vi.mock("../../infra/ports.js", () => ({
+  classifyPortListener: (listener: unknown, port: number) => classifyPortListener(listener, port),
+  formatPortDiagnostics: vi.fn(() => []),
+  inspectPortUsage: (port: number) => inspectPortUsage(port),
+}));
+
+describe("inspectGatewayRestart", () => {
+  beforeEach(() => {
+    inspectPortUsage.mockReset();
+    inspectPortUsage.mockResolvedValue({
+      port: 0,
+      status: "free",
+      listeners: [],
+      hints: [],
+    });
+    classifyPortListener.mockReset();
+    classifyPortListener.mockReturnValue("gateway");
+  });
+
+  it("treats a gateway listener child pid as healthy ownership", async () => {
+    const service = {
+      readRuntime: vi.fn(async () => ({ status: "running", pid: 7000 })),
+    } as unknown as GatewayService;
+
+    inspectPortUsage.mockResolvedValue({
+      port: 18789,
+      status: "busy",
+      listeners: [{ pid: 7001, ppid: 7000, commandLine: "openclaw-gateway" }],
+      hints: [],
+    });
+
+    const { inspectGatewayRestart } = await import("./restart-health.js");
+    const snapshot = await inspectGatewayRestart({ service, port: 18789 });
+
+    expect(snapshot.healthy).toBe(true);
+    expect(snapshot.staleGatewayPids).toEqual([]);
+  });
+
+  it("marks non-owned gateway listener pids as stale while runtime is running", async () => {
+    const service = {
+      readRuntime: vi.fn(async () => ({ status: "running", pid: 8000 })),
+    } as unknown as GatewayService;
+
+    inspectPortUsage.mockResolvedValue({
+      port: 18789,
+      status: "busy",
+      listeners: [{ pid: 9000, ppid: 8999, commandLine: "openclaw-gateway" }],
+      hints: [],
+    });
+
+    const { inspectGatewayRestart } = await import("./restart-health.js");
+    const snapshot = await inspectGatewayRestart({ service, port: 18789 });
+
+    expect(snapshot.healthy).toBe(false);
+    expect(snapshot.staleGatewayPids).toEqual([9000]);
+  });
+});
diff --git a/src/cli/daemon-cli/restart-health.ts b/src/cli/daemon-cli/restart-health.ts
index 4a0d5bcf4..3eb46c542 100644
--- a/src/cli/daemon-cli/restart-health.ts
+++ b/src/cli/daemon-cli/restart-health.ts
@@ -21,6 +21,13 @@ export type GatewayRestartSnapshot = {
   staleGatewayPids: number[];
 };
 
+function listenerOwnedByRuntimePid(params: {
+  listener: PortUsage["listeners"][number];
+  runtimePid: number;
+}): boolean {
+  return params.listener.pid === params.runtimePid || params.listener.ppid === params.runtimePid;
+}
+
 export async function inspectGatewayRestart(params: {
   service: GatewayService;
   port: number;
@@ -54,18 +61,27 @@ export async function inspectGatewayRestart(params: {
         )
       : [];
   const running = runtime.status === "running";
+  const runtimePid = runtime.pid;
   const ownsPort =
-    runtime.pid != null
-      ? portUsage.listeners.some((listener) => listener.pid === runtime.pid)
+    runtimePid != null
+      ? portUsage.listeners.some((listener) => listenerOwnedByRuntimePid({ listener, runtimePid }))
       : gatewayListeners.length > 0 ||
         (portUsage.status === "busy" && portUsage.listeners.length === 0);
   const healthy = running && ownsPort;
   const staleGatewayPids = Array.from(
     new Set(
       gatewayListeners
-        .map((listener) => listener.pid)
-        .filter((pid): pid is number => Number.isFinite(pid))
-        .filter((pid) => runtime.pid == null || pid !== runtime.pid || !running),
+        .filter((listener) => Number.isFinite(listener.pid))
+        .filter((listener) => {
+          if (!running) {
+            return true;
+          }
+          if (runtimePid == null) {
+            return true;
+          }
+          return !listenerOwnedByRuntimePid({ listener, runtimePid });
+        })
+        .map((listener) => listener.pid as number),
     ),
   );
 
diff --git a/src/infra/ports-inspect.ts b/src/infra/ports-inspect.ts
index d6c172a7b..344086ae1 100644
--- a/src/infra/ports-inspect.ts
+++ b/src/infra/ports-inspect.ts
@@ -75,6 +75,16 @@ async function resolveUnixUser(pid: number): Promise<string | undefined> {
   return line || undefined;
 }
 
+async function resolveUnixParentPid(pid: number): Promise<number | undefined> {
+  const res = await runCommandSafe(["ps", "-p", String(pid), "-o", "ppid="]);
+  if (res.code !== 0) {
+    return undefined;
+  }
+  const line = res.stdout.trim();
+  const parentPid = Number.parseInt(line, 10);
+  return Number.isFinite(parentPid) && parentPid > 0 ? parentPid : undefined;
+}
+
 async function readUnixListeners(
   port: number,
 ): Promise<{ listeners: PortListener[]; detail?: string; errors: string[] }> {
@@ -88,9 +98,10 @@ async function readUnixListeners(
         if (!listener.pid) {
           return;
         }
-        const [commandLine, user] = await Promise.all([
+        const [commandLine, user, parentPid] = await Promise.all([
           resolveUnixCommandLine(listener.pid),
           resolveUnixUser(listener.pid),
+          resolveUnixParentPid(listener.pid),
         ]);
         if (commandLine) {
           listener.commandLine = commandLine;
@@ -98,6 +109,9 @@ async function readUnixListeners(
         if (user) {
           listener.user = user;
         }
+        if (parentPid !== undefined) {
+          listener.ppid = parentPid;
+        }
       }),
     );
     return { listeners, detail: res.stdout.trim() || undefined, errors };
diff --git a/src/infra/ports-types.ts b/src/infra/ports-types.ts
index 56accc93a..827a5b3ad 100644
--- a/src/infra/ports-types.ts
+++ b/src/infra/ports-types.ts
@@ -1,5 +1,6 @@
 export type PortListener = {
   pid?: number;
+  ppid?: number;
   command?: string;
   commandLine?: string;
   user?: string;