diff --git a/CHANGELOG.md b/CHANGELOG.md
index 149a517fd64..d0fa2607a19 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -13,6 +13,11 @@ Docs: https://docs.openclaw.ai
 - Branding/Docs + Apple surfaces: replace remaining `bot.molt` launchd label, bundle-id, logging subsystem, and command examples with `ai.openclaw` across docs, iOS app surfaces, helper scripts, and CLI test fixtures.
 - Agents/Config: remind agents to call `config.schema` before config edits or config-field questions to avoid guessing. Thanks @thewilloftheshadow.
 - Onboarding/Security: clarify onboarding security notices that OpenClaw is personal-by-default (single trusted operator boundary) and shared/multi-user setups require explicit lock-down/hardening.
+- Heartbeat/Config: replace heartbeat DM toggle with `agents.defaults.heartbeat.directPolicy` (`allow` | `block`; also supported per-agent via `agents.list[].heartbeat.directPolicy`) for clearer delivery semantics.
+
+### Breaking
+
+- **BREAKING:** Heartbeat direct/DM delivery default is now `allow` again. To keep DM-blocked behavior from `2026.2.24`, set `agents.defaults.heartbeat.directPolicy: "block"` (or per-agent override).
 
 ### Fixes
 
diff --git a/docs/gateway/configuration-reference.md b/docs/gateway/configuration-reference.md
index b03a0daa4fc..8d147b23fd7 100644
--- a/docs/gateway/configuration-reference.md
+++ b/docs/gateway/configuration-reference.md
@@ -800,6 +800,7 @@ Periodic heartbeat runs.
         includeReasoning: false,
         session: "main",
         to: "+15555550123",
+        directPolicy: "allow", // allow (default) | block
         target: "none", // default: none | options: last | whatsapp | telegram | discord | ...
         prompt: "Read HEARTBEAT.md if it exists...",
         ackMaxChars: 300,
@@ -812,7 +813,7 @@ Periodic heartbeat runs.
 
 - `every`: duration string (ms/s/m/h). Default: `30m`.
 - `suppressToolErrorWarnings`: when true, suppresses tool error warning payloads during heartbeat runs.
-- Heartbeats never deliver to direct/DM chat targets when the destination can be classified as direct (for example `user:<id>`, Telegram user chat IDs, or WhatsApp direct numbers/JIDs); those runs still execute, but outbound delivery is skipped.
+- `directPolicy`: direct/DM delivery policy. `allow` (default) permits direct-target delivery. `block` suppresses direct-target delivery and emits `reason=dm-blocked`.
 - Per-agent: set `agents.list[].heartbeat`. When any agent defines `heartbeat`, **only those agents** run heartbeats.
 - Heartbeats run full agent turns — shorter intervals burn more tokens.
 
diff --git a/docs/gateway/configuration.md b/docs/gateway/configuration.md
index 3f7403d4647..ff3179d28e2 100644
--- a/docs/gateway/configuration.md
+++ b/docs/gateway/configuration.md
@@ -239,7 +239,8 @@ When validation fails:
     ```
 
     - `every`: duration string (`30m`, `2h`). Set `0m` to disable.
-    - `target`: `last` | `whatsapp` | `telegram` | `discord` | `none` (DM-style `user:<id>` heartbeat delivery is blocked)
+    - `target`: `last` | `whatsapp` | `telegram` | `discord` | `none`
+    - `directPolicy`: `allow` (default) or `block` for DM-style heartbeat targets
     - See [Heartbeat](/gateway/heartbeat) for the full guide.
 
   </Accordion>
diff --git a/docs/gateway/heartbeat.md b/docs/gateway/heartbeat.md
index cf7ea489c40..70f4b968233 100644
--- a/docs/gateway/heartbeat.md
+++ b/docs/gateway/heartbeat.md
@@ -215,7 +215,9 @@ Use `accountId` to target a specific account on multi-account channels like Tele
   - `last`: deliver to the last used external channel.
   - explicit channel: `whatsapp` / `telegram` / `discord` / `googlechat` / `slack` / `msteams` / `signal` / `imessage`.
   - `none` (default): run the heartbeat but **do not deliver** externally.
-- Direct/DM heartbeat destinations are blocked when target parsing identifies a direct chat (for example `user:<id>`, Telegram user chat IDs, or WhatsApp direct numbers/JIDs).
+- `directPolicy`: controls direct/DM delivery behavior:
+  - `allow` (default): allow direct/DM heartbeat delivery.
+  - `block`: suppress direct/DM delivery (`reason=dm-blocked`).
 - `to`: optional recipient override (channel-specific id, e.g. E.164 for WhatsApp or a Telegram chat id). For Telegram topics/threads, use `<chatId>:topic:<messageThreadId>`.
 - `accountId`: optional account id for multi-account channels. When `target: "last"`, the account id applies to the resolved last channel if it supports accounts; otherwise it is ignored. If the account id does not match a configured account for the resolved channel, delivery is skipped.
 - `prompt`: overrides the default prompt body (not merged).
@@ -236,7 +238,7 @@ Use `accountId` to target a specific account on multi-account channels like Tele
 - `session` only affects the run context; delivery is controlled by `target` and `to`.
 - To deliver to a specific channel/recipient, set `target` + `to`. With
   `target: "last"`, delivery uses the last external channel for that session.
-- Heartbeat deliveries never send to direct/DM targets when the destination is identified as direct; those runs still execute, but outbound delivery is skipped.
+- Heartbeat deliveries allow direct/DM targets by default. Set `directPolicy: "block"` to suppress direct-target sends while still running the heartbeat turn.
 - If the main queue is busy, the heartbeat is skipped and retried later.
 - If `target` resolves to no external destination, the run still happens but no
   outbound message is sent.
diff --git a/docs/gateway/troubleshooting.md b/docs/gateway/troubleshooting.md
index 23483076102..45963f15579 100644
--- a/docs/gateway/troubleshooting.md
+++ b/docs/gateway/troubleshooting.md
@@ -174,7 +174,7 @@ Common signatures:
 - `cron: timer tick failed` → scheduler tick failed; check file/log/runtime errors.
 - `heartbeat skipped` with `reason=quiet-hours` → outside active hours window.
 - `heartbeat: unknown accountId` → invalid account id for heartbeat delivery target.
-- `heartbeat skipped` with `reason=dm-blocked` → heartbeat target resolved to a DM-style `user:<id>` destination (blocked by design).
+- `heartbeat skipped` with `reason=dm-blocked` → heartbeat target resolved to a DM-style destination while `agents.defaults.heartbeat.directPolicy` (or per-agent override) is set to `block`.
 
 Related:
 
diff --git a/docs/start/openclaw.md b/docs/start/openclaw.md
index 058f2fa67fe..671efe420c7 100644
--- a/docs/start/openclaw.md
+++ b/docs/start/openclaw.md
@@ -164,7 +164,7 @@ Set `agents.defaults.heartbeat.every: "0m"` to disable.
 - If `HEARTBEAT.md` exists but is effectively empty (only blank lines and markdown headers like `# Heading`), OpenClaw skips the heartbeat run to save API calls.
 - If the file is missing, the heartbeat still runs and the model decides what to do.
 - If the agent replies with `HEARTBEAT_OK` (optionally with short padding; see `agents.defaults.heartbeat.ackMaxChars`), OpenClaw suppresses outbound delivery for that heartbeat.
-- Heartbeat delivery to DM-style `user:<id>` targets is blocked; those runs still execute but skip outbound delivery.
+- By default, heartbeat delivery to DM-style `user:<id>` targets is allowed. Set `agents.defaults.heartbeat.directPolicy: "block"` to suppress direct-target delivery while keeping heartbeat runs active.
 - Heartbeats run full agent turns — shorter intervals burn more tokens.
 
 ```json5
diff --git a/src/config/config.plugin-validation.test.ts b/src/config/config.plugin-validation.test.ts
index d9e6b3190e1..62584f138de 100644
--- a/src/config/config.plugin-validation.test.ts
+++ b/src/config/config.plugin-validation.test.ts
@@ -234,4 +234,32 @@ describe("config plugin validation", () => {
       });
     }
   });
+
+  it("accepts heartbeat directPolicy enum values", async () => {
+    const home = await createCaseHome();
+    const res = validateInHome(home, {
+      agents: {
+        defaults: { heartbeat: { target: "last", directPolicy: "block" } },
+        list: [{ id: "pi", heartbeat: { directPolicy: "allow" } }],
+      },
+    });
+    expect(res.ok).toBe(true);
+  });
+
+  it("rejects invalid heartbeat directPolicy values", async () => {
+    const home = await createCaseHome();
+    const res = validateInHome(home, {
+      agents: {
+        defaults: { heartbeat: { directPolicy: "maybe" } },
+        list: [{ id: "pi" }],
+      },
+    });
+    expect(res.ok).toBe(false);
+    if (!res.ok) {
+      const hasIssue = res.issues.some(
+        (issue) => issue.path === "agents.defaults.heartbeat.directPolicy",
+      );
+      expect(hasIssue).toBe(true);
+    }
+  });
 });
diff --git a/src/config/schema.help.ts b/src/config/schema.help.ts
index a479ec0a853..f32433e1333 100644
--- a/src/config/schema.help.ts
+++ b/src/config/schema.help.ts
@@ -1238,6 +1238,10 @@ export const FIELD_HELP: Record<string, string> = {
     "Shows degraded/error heartbeat alerts when true so operator channels surface problems promptly. Keep enabled in production so broken channel states are visible.",
   "channels.defaults.heartbeat.useIndicator":
     "Enables concise indicator-style heartbeat rendering instead of verbose status text where supported. Use indicator mode for dense dashboards with many active channels.",
+  "agents.defaults.heartbeat.directPolicy":
+    'Controls whether heartbeat delivery may target direct/DM chats: "allow" (default) permits DM delivery and "block" suppresses direct-target sends.',
+  "agents.list.*.heartbeat.directPolicy":
+    'Per-agent override for heartbeat direct/DM delivery policy; use "block" for agents that should only send heartbeat alerts to non-DM destinations.',
   "channels.telegram.configWrites":
     "Allow Telegram to write config in response to channel events/commands (default: true).",
   "channels.telegram.botToken":
diff --git a/src/config/schema.labels.ts b/src/config/schema.labels.ts
index cd28b1fafb8..8c0c6350d7b 100644
--- a/src/config/schema.labels.ts
+++ b/src/config/schema.labels.ts
@@ -402,6 +402,8 @@ export const FIELD_LABELS: Record<string, string> = {
     "Compaction Memory Flush Soft Threshold",
   "agents.defaults.compaction.memoryFlush.prompt": "Compaction Memory Flush Prompt",
   "agents.defaults.compaction.memoryFlush.systemPrompt": "Compaction Memory Flush System Prompt",
+  "agents.defaults.heartbeat.directPolicy": "Heartbeat Direct Policy",
+  "agents.list.*.heartbeat.directPolicy": "Heartbeat Direct Policy",
   "agents.defaults.heartbeat.suppressToolErrorWarnings": "Heartbeat Suppress Tool Error Warnings",
   "agents.defaults.sandbox.browser.network": "Sandbox Browser Network",
   "agents.defaults.sandbox.browser.cdpSourceRange": "Sandbox Browser CDP Source Port Range",
diff --git a/src/config/types.agent-defaults.ts b/src/config/types.agent-defaults.ts
index e8eac685086..afc65e3daec 100644
--- a/src/config/types.agent-defaults.ts
+++ b/src/config/types.agent-defaults.ts
@@ -213,6 +213,8 @@ export type AgentDefaultsConfig = {
     session?: string;
     /** Delivery target ("last", "none", or a channel id). */
     target?: "last" | "none" | ChannelId;
+    /** Direct/DM delivery policy. Default: "allow". */
+    directPolicy?: "allow" | "block";
     /** Optional delivery override (E.164 for WhatsApp, chat id for Telegram). Supports :topic:NNN suffix for Telegram topics. */
     to?: string;
     /** Optional account id for multi-account channels. */
diff --git a/src/config/zod-schema.agent-runtime.ts b/src/config/zod-schema.agent-runtime.ts
index c477cc1743b..9df0776b956 100644
--- a/src/config/zod-schema.agent-runtime.ts
+++ b/src/config/zod-schema.agent-runtime.ts
@@ -26,6 +26,7 @@ export const HeartbeatSchema = z
     session: z.string().optional(),
     includeReasoning: z.boolean().optional(),
     target: z.string().optional(),
+    directPolicy: z.union([z.literal("allow"), z.literal("block")]).optional(),
     to: z.string().optional(),
     accountId: z.string().optional(),
     prompt: z.string().optional(),
diff --git a/src/infra/heartbeat-runner.returns-default-unset.test.ts b/src/infra/heartbeat-runner.returns-default-unset.test.ts
index 0ec2afcafdd..c4f45b5e039 100644
--- a/src/infra/heartbeat-runner.returns-default-unset.test.ts
+++ b/src/infra/heartbeat-runner.returns-default-unset.test.ts
@@ -325,6 +325,30 @@ describe("resolveHeartbeatDeliveryTarget", () => {
           lastAccountId: undefined,
         },
       },
+      {
+        name: "allow direct target by default",
+        cfg: { agents: { defaults: { heartbeat: { target: "last" } } } },
+        entry: { ...baseEntry, lastChannel: "telegram", lastTo: "5232990709" },
+        expected: {
+          channel: "telegram",
+          to: "5232990709",
+          accountId: undefined,
+          lastChannel: "telegram",
+          lastAccountId: undefined,
+        },
+      },
+      {
+        name: "block direct target when directPolicy is block",
+        cfg: { agents: { defaults: { heartbeat: { target: "last", directPolicy: "block" } } } },
+        entry: { ...baseEntry, lastChannel: "telegram", lastTo: "5232990709" },
+        expected: {
+          channel: "none",
+          reason: "dm-blocked",
+          accountId: undefined,
+          lastChannel: "telegram",
+          lastAccountId: undefined,
+        },
+      },
     ];
     for (const testCase of cases) {
       expect(
diff --git a/src/infra/outbound/targets.test.ts b/src/infra/outbound/targets.test.ts
index 8f120702de0..cbad502cdde 100644
--- a/src/infra/outbound/targets.test.ts
+++ b/src/infra/outbound/targets.test.ts
@@ -301,7 +301,7 @@ describe("resolveSessionDeliveryTarget", () => {
     expect(resolved.to).toBe("63448508");
   });
 
-  it("blocks heartbeat delivery to Slack DMs and avoids inherited threadId", () => {
+  it("allows heartbeat delivery to Slack DMs and avoids inherited threadId by default", () => {
     const cfg: OpenClawConfig = {};
     const resolved = resolveHeartbeatDeliveryTarget({
       cfg,
@@ -317,12 +317,34 @@ describe("resolveSessionDeliveryTarget", () => {
       },
     });
 
+    expect(resolved.channel).toBe("slack");
+    expect(resolved.to).toBe("user:U123");
+    expect(resolved.threadId).toBeUndefined();
+  });
+
+  it("blocks heartbeat delivery to Slack DMs when directPolicy is block", () => {
+    const cfg: OpenClawConfig = {};
+    const resolved = resolveHeartbeatDeliveryTarget({
+      cfg,
+      entry: {
+        sessionId: "sess-heartbeat-outbound",
+        updatedAt: 1,
+        lastChannel: "slack",
+        lastTo: "user:U123",
+        lastThreadId: "1739142736.000100",
+      },
+      heartbeat: {
+        target: "last",
+        directPolicy: "block",
+      },
+    });
+
     expect(resolved.channel).toBe("none");
     expect(resolved.reason).toBe("dm-blocked");
     expect(resolved.threadId).toBeUndefined();
   });
 
-  it("blocks heartbeat delivery to Discord DMs", () => {
+  it("allows heartbeat delivery to Discord DMs by default", () => {
     const cfg: OpenClawConfig = {};
     const resolved = resolveHeartbeatDeliveryTarget({
       cfg,
@@ -337,11 +359,11 @@ describe("resolveSessionDeliveryTarget", () => {
       },
     });
 
-    expect(resolved.channel).toBe("none");
-    expect(resolved.reason).toBe("dm-blocked");
+    expect(resolved.channel).toBe("discord");
+    expect(resolved.to).toBe("user:12345");
   });
 
-  it("blocks heartbeat delivery to Telegram direct chats", () => {
+  it("allows heartbeat delivery to Telegram direct chats by default", () => {
     const cfg: OpenClawConfig = {};
     const resolved = resolveHeartbeatDeliveryTarget({
       cfg,
@@ -356,6 +378,26 @@ describe("resolveSessionDeliveryTarget", () => {
       },
     });
 
+    expect(resolved.channel).toBe("telegram");
+    expect(resolved.to).toBe("5232990709");
+  });
+
+  it("blocks heartbeat delivery to Telegram direct chats when directPolicy is block", () => {
+    const cfg: OpenClawConfig = {};
+    const resolved = resolveHeartbeatDeliveryTarget({
+      cfg,
+      entry: {
+        sessionId: "sess-heartbeat-telegram-direct",
+        updatedAt: 1,
+        lastChannel: "telegram",
+        lastTo: "5232990709",
+      },
+      heartbeat: {
+        target: "last",
+        directPolicy: "block",
+      },
+    });
+
     expect(resolved.channel).toBe("none");
     expect(resolved.reason).toBe("dm-blocked");
   });
@@ -379,7 +421,7 @@ describe("resolveSessionDeliveryTarget", () => {
     expect(resolved.to).toBe("-1001234567890");
   });
 
-  it("blocks heartbeat delivery to WhatsApp direct chats", () => {
+  it("allows heartbeat delivery to WhatsApp direct chats by default", () => {
     const cfg: OpenClawConfig = {};
     const resolved = resolveHeartbeatDeliveryTarget({
       cfg,
@@ -394,8 +436,8 @@ describe("resolveSessionDeliveryTarget", () => {
       },
     });
 
-    expect(resolved.channel).toBe("none");
-    expect(resolved.reason).toBe("dm-blocked");
+    expect(resolved.channel).toBe("whatsapp");
+    expect(resolved.to).toBe("+15551234567");
   });
 
   it("keeps heartbeat delivery to WhatsApp groups", () => {
@@ -417,7 +459,7 @@ describe("resolveSessionDeliveryTarget", () => {
     expect(resolved.to).toBe("120363140186826074@g.us");
   });
 
-  it("uses session chatType hint when target parser cannot classify", () => {
+  it("uses session chatType hint when target parser cannot classify and allows direct by default", () => {
     const cfg: OpenClawConfig = {};
     const resolved = resolveHeartbeatDeliveryTarget({
       cfg,
@@ -433,6 +475,27 @@ describe("resolveSessionDeliveryTarget", () => {
       },
     });
 
+    expect(resolved.channel).toBe("imessage");
+    expect(resolved.to).toBe("chat-guid-unknown-shape");
+  });
+
+  it("blocks session chatType direct hints when directPolicy is block", () => {
+    const cfg: OpenClawConfig = {};
+    const resolved = resolveHeartbeatDeliveryTarget({
+      cfg,
+      entry: {
+        sessionId: "sess-heartbeat-imessage-direct",
+        updatedAt: 1,
+        lastChannel: "imessage",
+        lastTo: "chat-guid-unknown-shape",
+        chatType: "direct",
+      },
+      heartbeat: {
+        target: "last",
+        directPolicy: "block",
+      },
+    });
+
     expect(resolved.channel).toBe("none");
     expect(resolved.reason).toBe("dm-blocked");
   });
diff --git a/src/infra/outbound/targets.ts b/src/infra/outbound/targets.ts
index d9411e2223c..89e68e57566 100644
--- a/src/infra/outbound/targets.ts
+++ b/src/infra/outbound/targets.ts
@@ -330,7 +330,7 @@ export function resolveHeartbeatDeliveryTarget(params: {
     to: resolved.to,
     sessionChatType: sessionChatTypeHint,
   });
-  if (deliveryChatType === "direct") {
+  if (deliveryChatType === "direct" && heartbeat?.directPolicy === "block") {
     return buildNoHeartbeatDeliveryTarget({
       reason: "dm-blocked",
       accountId: effectiveAccountId,