diff --git a/docs/docs/configuration/index.md b/docs/docs/configuration/index.md
index 06734c9d6..5fc9c57b8 100644
--- a/docs/docs/configuration/index.md
+++ b/docs/docs/configuration/index.md
@@ -246,12 +246,14 @@ motion:
   # Enables dynamic contrast improvement. This should help improve night detections at the cost of making motion detection more sensitive
   # for daytime.
   improve_contrast: False
+  # Optional: Delay when updating camera motion through MQTT from ON -> OFF (default: shown below).
+  mqtt_off_delay: 30
 
 # Optional: Record configuration
 # NOTE: Can be overridden at the camera level
 record:
   # Optional: Enable recording (default: shown below)
-  # WARNING: If recording is disabled in the config, turning it on via 
+  # WARNING: If recording is disabled in the config, turning it on via
   #          the UI or MQTT later will have no effect.
   # WARNING: Frigate does not currently support limiting recordings based
   #          on available disk space automatically. If using recordings,
diff --git a/docs/docs/integrations/mqtt.md b/docs/docs/integrations/mqtt.md
index cdf4fb637..fca590b61 100644
--- a/docs/docs/integrations/mqtt.md
+++ b/docs/docs/integrations/mqtt.md
@@ -123,6 +123,12 @@ Topic with current state of snapshots for a camera. Published values are `ON` an
 Topic to turn motion detection for a camera on and off. Expected values are `ON` and `OFF`.
 NOTE: Turning off motion detection will fail if detection is not disabled.
 
+### `frigate/<camera_name>/motion`
+
+Whether camera_name is currently detecting motion. Expected values are `ON` and `OFF`.
+NOTE: After motion is initially detected, `ON` will be set until no motion has
+been detected for `mqtt_off_delay` seconds (30 by default).
+
 ### `frigate/<camera_name>/motion/state`
 
 Topic with current state of motion detection for a camera. Published values are `ON` and `OFF`.
diff --git a/frigate/config.py b/frigate/config.py
index 58b064214..863538504 100644
--- a/frigate/config.py
+++ b/frigate/config.py
@@ -134,6 +134,10 @@ class MotionConfig(FrigateBaseModel):
     mask: Union[str, List[str]] = Field(
         default="", title="Coordinates polygon for the motion mask."
     )
+    mqtt_off_delay: int = Field(
+        default=30,
+        title="Delay for updating MQTT with no motion detected.",
+    )
 
 
 class RuntimeMotionConfig(MotionConfig):
diff --git a/frigate/object_processing.py b/frigate/object_processing.py
index a7509ef49..4206021e2 100644
--- a/frigate/object_processing.py
+++ b/frigate/object_processing.py
@@ -1,29 +1,24 @@
 import base64
-import copy
 import datetime
-import hashlib
-import itertools
 import json
 import logging
 import os
 import queue
 import threading
-import time
 from collections import Counter, defaultdict
-from statistics import mean, median
+from statistics import median
 from typing import Callable
 
 import cv2
 import numpy as np
 
 from frigate.config import CameraConfig, SnapshotsConfig, RecordConfig, FrigateConfig
-from frigate.const import CACHE_DIR, CLIPS_DIR, RECORD_DIR
+from frigate.const import CLIPS_DIR
 from frigate.util import (
     SharedMemoryFrameManager,
     calculate_region,
     draw_box_with_label,
     draw_timestamp,
-    load_labels,
 )
 
 logger = logging.getLogger(__name__)
@@ -652,6 +647,7 @@ class TrackedObjectProcessor(threading.Thread):
         self.stop_event = stop_event
         self.camera_states: dict[str, CameraState] = {}
         self.frame_manager = SharedMemoryFrameManager()
+        self.last_motion_updates: dict[str, int] = {}
 
         def start(camera, obj: TrackedObject, current_frame_time):
             self.event_queue.put(("start", camera, obj.to_dict()))
@@ -844,6 +840,33 @@ class TrackedObjectProcessor(threading.Thread):
 
         return True
 
+    def should_mqtt_motion(self, camera, motion_boxes):
+        # publish if motion is currently being detected
+        if motion_boxes:
+            # only send True if motion hasn't been detected recently
+            if self.last_motion_updates.get(camera, 0) == 0:
+                self.client.publish(
+                    f"{self.topic_prefix}/{camera}/motion",
+                    "ON",
+                    retain=False,
+                )
+
+            # always updated latest motion
+            self.last_motion_updates[camera] = int(datetime.datetime.now().timestamp())
+        elif not motion_boxes and self.last_motion_updates.get(camera, 0) != 0:
+            mqtt_delay = self.config.cameras[camera].motion.mqtt_off_delay
+            now = int(datetime.datetime.now().timestamp())
+
+            # If no motion, make sure the off_delay has passed
+            if now - self.last_motion_updates.get(camera, 0) >= mqtt_delay:
+                self.client.publish(
+                    f"{self.topic_prefix}/{camera}/motion",
+                    "OFF",
+                    retain=False,
+                )
+                # reset the last_motion so redundant `off` commands aren't sent
+                self.last_motion_updates[camera] = 0
+
     def get_best(self, camera, label):
         # TODO: need a lock here
         camera_state = self.camera_states[camera]
@@ -879,6 +902,8 @@ class TrackedObjectProcessor(threading.Thread):
                 frame_time, current_tracked_objects, motion_boxes, regions
             )
 
+            self.should_mqtt_motion(camera, motion_boxes)
+
             tracked_objects = [
                 o.to_dict() for o in camera_state.tracked_objects.values()
             ]