diff --git a/frigate/detectors/plugins/tensorrt.py b/frigate/detectors/plugins/tensorrt.py
index dea3fe078..1ca67b683 100644
--- a/frigate/detectors/plugins/tensorrt.py
+++ b/frigate/detectors/plugins/tensorrt.py
@@ -293,6 +293,16 @@ class TensorRtDetector(DetectionApi):
         # raw_detections: Nx7 numpy arrays of
         #             [[x, y, w, h, box_confidence, class_id, class_prob],
 
+        # throw out any detections with negative class IDs
+        valid_detections = []
+        for r in raw_detections:
+            if r[5] >= 0:
+                valid_detections.append(r)
+            else:
+                logger.warning(f"Found TensorRT detection with invalid class id {r}")
+
+        raw_detections = valid_detections
+
         # Calculate score as box_confidence x class_prob
         raw_detections[:, 4] = raw_detections[:, 4] * raw_detections[:, 6]
         # Reorder elements by the score, best on top, remove class_prob
@@ -303,6 +313,7 @@ class TensorRtDetector(DetectionApi):
         ordered[:, 3] = np.clip(ordered[:, 3] + ordered[:, 1], 0, 1)
         # put result into the correct order and limit to top 20
         detections = ordered[:, [5, 4, 1, 0, 3, 2]][:20]
+
         # pad to 20x6 shape
         append_cnt = 20 - len(detections)
         if append_cnt > 0: