diff --git a/include/libcamera/ipa/raspberrypi.mojom b/include/libcamera/ipa/raspberrypi.mojom
index acd3cafe6c91..33d2a97ca916 100644
--- a/include/libcamera/ipa/raspberrypi.mojom
+++ b/include/libcamera/ipa/raspberrypi.mojom
@@ -41,6 +41,7 @@ struct IPAConfig {
 struct StartConfig {
 	libcamera.ControlList controls;
 	int32 dropFrameCount;
+	uint32 sensorTimeoutMs;
 };
 
 interface IPARPiInterface {
diff --git a/src/ipa/raspberrypi/raspberrypi.cpp b/src/ipa/raspberrypi/raspberrypi.cpp
index fd8fecb07f81..983d6e998b4c 100644
--- a/src/ipa/raspberrypi/raspberrypi.cpp
+++ b/src/ipa/raspberrypi/raspberrypi.cpp
@@ -281,6 +281,13 @@ void IPARPi::start(const ControlList &controls, ipa::RPi::StartConfig *startConf
 
 	startConfig->dropFrameCount = dropFrameCount_;
 
+	/*
+	 * Set the pipeline handler's sensor timeout to 2x the maximum possible
+	 * frame duration for this mode.
+	 */
+	const Duration maxSensorFrameDuration = mode_.max_frame_length * mode_.line_length;
+	startConfig->sensorTimeoutMs = 2 * maxSensorFrameDuration.get<std::milli>();
+
 	firstStart_ = false;
 	lastRunTimestamp_ = 0;
 }
diff --git a/src/libcamera/pipeline/raspberrypi/raspberrypi.cpp b/src/libcamera/pipeline/raspberrypi/raspberrypi.cpp
index c2230199fed7..86d952b52aed 100644
--- a/src/libcamera/pipeline/raspberrypi/raspberrypi.cpp
+++ b/src/libcamera/pipeline/raspberrypi/raspberrypi.cpp
@@ -15,6 +15,7 @@
 #include <utility>
 
 #include <libcamera/base/shared_fd.h>
+#include <libcamera/base/timer.h>
 #include <libcamera/base/utils.h>
 
 #include <libcamera/camera.h>
@@ -202,6 +203,7 @@ public:
 	void setIspControls(const ControlList &controls);
 	void setDelayedControls(const ControlList &controls);
 	void setSensorControls(ControlList &controls);
+	void sensorTimeout();
 
 	/* bufferComplete signal handlers. */
 	void unicamBufferDequeue(FrameBuffer *buffer);
@@ -279,6 +281,10 @@ public:
 	 */
 	std::optional<int32_t> notifyGainsUnity_;
 
+	/* Timer to ensure the sensor is producing frames for the pipeline handler. */
+	Timer sensorTimeout_;
+	std::chrono::milliseconds sensorTimeoutDuration_;
+
 private:
 	void checkRequestCompleted();
 	void fillRequestMetadata(const ControlList &bufferControls,
@@ -1032,6 +1038,11 @@ int PipelineHandlerRPi::start(Camera *camera, const ControlList *controls)
 		}
 	}
 
+	LOG(RPI, Debug) << "Setting sensor timeout to " << startConfig.sensorTimeoutMs << " ms";
+	data->sensorTimeoutDuration_ = std::chrono::milliseconds(startConfig.sensorTimeoutMs);
+	data->sensorTimeout_.start(data->sensorTimeoutDuration_);
+	data->sensorTimeout_.timeout.connect(data, &RPiCameraData::sensorTimeout);
+
 	return 0;
 }
 
@@ -1040,6 +1051,8 @@ void PipelineHandlerRPi::stopDevice(Camera *camera)
 	RPiCameraData *data = cameraData(camera);
 
 	data->state_ = RPiCameraData::State::Stopped;
+	data->sensorTimeout_.timeout.disconnect();
+	data->sensorTimeout_.stop();
 
 	/* Disable SOF event generation. */
 	data->unicam_[Unicam::Image].dev()->setFrameStartEnabled(false);
@@ -1757,6 +1770,12 @@ void RPiCameraData::setSensorControls(ControlList &controls)
 	sensor_->setControls(&controls);
 }
 
+void RPiCameraData::sensorTimeout()
+{
+	LOG(RPI, Error) << "Sensor has timed out after "
+			<< sensorTimeoutDuration_.count() << " ms!";
+}
+
 void RPiCameraData::unicamBufferDequeue(FrameBuffer *buffer)
 {
 	RPi::Stream *stream = nullptr;
@@ -1792,6 +1811,9 @@ void RPiCameraData::unicamBufferDequeue(FrameBuffer *buffer)
 		 */
 		ctrl.set(controls::SensorTimestamp, buffer->metadata().timestamp);
 		bayerQueue_.push({ buffer, std::move(ctrl) });
+
+		/* Restart the sensor timer. */
+		sensorTimeout_.start(sensorTimeoutDuration_);
 	} else {
 		embeddedQueue_.push(buffer);
 	}