diff --git a/poetry.lock b/poetry.lock
index 336bd63..9b1d3e3 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -1,4 +1,144 @@
-# This file is automatically @generated by Poetry 2.0.1 and should not be changed by hand.
+# This file is automatically @generated by Poetry 2.1.3 and should not be changed by hand.
+
+[[package]]
+name = "aiohappyeyeballs"
+version = "2.6.1"
+description = "Happy Eyeballs for asyncio"
+optional = true
+python-versions = ">=3.9"
+groups = ["main"]
+markers = "extra == \"health\""
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+
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+description = "Async http client/server framework (asyncio)"
+optional = true
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+groups = ["main"]
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+yarl = ">=1.17.0,<2.0"
+
+[package.extras]
+speedups = ["Brotli ; platform_python_implementation == \"CPython\"", "aiodns (>=3.3.0)", "brotlicffi ; platform_python_implementation != \"CPython\""]
+
+[[package]]
+name = "aiosignal"
+version = "1.4.0"
+description = "aiosignal: a list of registered asynchronous callbacks"
+optional = true
+python-versions = ">=3.9"
+groups = ["main"]
+markers = "extra == \"health\""
+files = [
+    {file = "aiosignal-1.4.0-py3-none-any.whl", hash = "sha256:053243f8b92b990551949e63930a839ff0cf0b0ebbe0597b0f3fb19e1a0fe82e"},
+    {file = "aiosignal-1.4.0.tar.gz", hash = "sha256:f47eecd9468083c2029cc99945502cb7708b082c232f9aca65da147157b251c7"},
+]
+
+[package.dependencies]
+frozenlist = ">=1.1.0"
+typing-extensions = {version = ">=4.2", markers = "python_version < \"3.13\""}
 
 [[package]]
 name = "annotated-types"
@@ -32,9 +172,43 @@ typing_extensions = {version = ">=4.5", markers = "python_version < \"3.13\""}
 
 [package.extras]
 doc = ["Sphinx (>=8.2,<9.0)", "packaging", "sphinx-autodoc-typehints (>=1.2.0)", "sphinx_rtd_theme"]
-test = ["anyio[trio]", "blockbuster (>=1.5.23)", "coverage[toml] (>=7)", "exceptiongroup (>=1.2.0)", "hypothesis (>=4.0)", "psutil (>=5.9)", "pytest (>=7.0)", "trustme", "truststore (>=0.9.1)", "uvloop (>=0.21)"]
+test = ["anyio[trio]", "blockbuster (>=1.5.23)", "coverage[toml] (>=7)", "exceptiongroup (>=1.2.0)", "hypothesis (>=4.0)", "psutil (>=5.9)", "pytest (>=7.0)", "trustme", "truststore (>=0.9.1) ; python_version >= \"3.10\"", "uvloop (>=0.21) ; platform_python_implementation == \"CPython\" and platform_system != \"Windows\" and python_version < \"3.14\""]
 trio = ["trio (>=0.26.1)"]
 
+[[package]]
+name = "async-timeout"
+version = "5.0.1"
+description = "Timeout context manager for asyncio programs"
+optional = true
+python-versions = ">=3.8"
+groups = ["main"]
+markers = "extra == \"health\" and python_version < \"3.11\""
+files = [
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+    {file = "async_timeout-5.0.1.tar.gz", hash = "sha256:d9321a7a3d5a6a5e187e824d2fa0793ce379a202935782d555d6e9d2735677d3"},
+]
+
+[[package]]
+name = "attrs"
+version = "25.3.0"
+description = "Classes Without Boilerplate"
+optional = true
+python-versions = ">=3.8"
+groups = ["main"]
+markers = "extra == \"health\""
+files = [
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+]
+
+[package.extras]
+benchmark = ["cloudpickle ; platform_python_implementation == \"CPython\"", "hypothesis", "mypy (>=1.11.1) ; platform_python_implementation == \"CPython\" and python_version >= \"3.10\"", "pympler", "pytest (>=4.3.0)", "pytest-codspeed", "pytest-mypy-plugins ; platform_python_implementation == \"CPython\" and python_version >= \"3.10\"", "pytest-xdist[psutil]"]
+cov = ["cloudpickle ; platform_python_implementation == \"CPython\"", "coverage[toml] (>=5.3)", "hypothesis", "mypy (>=1.11.1) ; platform_python_implementation == \"CPython\" and python_version >= \"3.10\"", "pympler", "pytest (>=4.3.0)", "pytest-mypy-plugins ; platform_python_implementation == \"CPython\" and python_version >= \"3.10\"", "pytest-xdist[psutil]"]
+dev = ["cloudpickle ; platform_python_implementation == \"CPython\"", "hypothesis", "mypy (>=1.11.1) ; platform_python_implementation == \"CPython\" and python_version >= \"3.10\"", "pre-commit-uv", "pympler", "pytest (>=4.3.0)", "pytest-mypy-plugins ; platform_python_implementation == \"CPython\" and python_version >= \"3.10\"", "pytest-xdist[psutil]"]
+docs = ["cogapp", "furo", "myst-parser", "sphinx", "sphinx-notfound-page", "sphinxcontrib-towncrier", "towncrier"]
+tests = ["cloudpickle ; platform_python_implementation == \"CPython\"", "hypothesis", "mypy (>=1.11.1) ; platform_python_implementation == \"CPython\" and python_version >= \"3.10\"", "pympler", "pytest (>=4.3.0)", "pytest-mypy-plugins ; platform_python_implementation == \"CPython\" and python_version >= \"3.10\"", "pytest-xdist[psutil]"]
+tests-mypy = ["mypy (>=1.11.1) ; platform_python_implementation == \"CPython\" and python_version >= \"3.10\"", "pytest-mypy-plugins ; platform_python_implementation == \"CPython\" and python_version >= \"3.10\""]
+
 [[package]]
 name = "black"
 version = "22.12.0"
@@ -140,7 +314,7 @@ files = [
 
 [package.extras]
 benchmarks = ["pytest-benchmark (==4.0.0)"]
-doc = ["Sphinx (>=7)", "packaging", "sphinx-autodoc-typehints (>=1.2.0)", "sphinx-rtd-theme (>=1.3.0)", "typing-extensions"]
+doc = ["Sphinx (>=7)", "packaging", "sphinx-autodoc-typehints (>=1.2.0)", "sphinx-rtd-theme (>=1.3.0)", "typing-extensions ; python_version < \"3.12\""]
 test = ["coverage (>=7)", "hypothesis", "pytest"]
 
 [[package]]
@@ -339,7 +513,7 @@ files = [
 tomli = {version = "*", optional = true, markers = "python_full_version <= \"3.11.0a6\" and extra == \"toml\""}
 
 [package.extras]
-toml = ["tomli"]
+toml = ["tomli ; python_full_version <= \"3.11.0a6\""]
 
 [[package]]
 name = "distlib"
@@ -399,7 +573,7 @@ files = [
 [package.extras]
 docs = ["furo (>=2024.8.6)", "sphinx (>=8.1.3)", "sphinx-autodoc-typehints (>=3)"]
 testing = ["covdefaults (>=2.3)", "coverage (>=7.6.10)", "diff-cover (>=9.2.1)", "pytest (>=8.3.4)", "pytest-asyncio (>=0.25.2)", "pytest-cov (>=6)", "pytest-mock (>=3.14)", "pytest-timeout (>=2.3.1)", "virtualenv (>=20.28.1)"]
-typing = ["typing-extensions (>=4.12.2)"]
+typing = ["typing-extensions (>=4.12.2) ; python_version < \"3.11\""]
 
 [[package]]
 name = "freezegun"
@@ -416,6 +590,121 @@ files = [
 [package.dependencies]
 python-dateutil = ">=2.7"
 
+[[package]]
+name = "frozenlist"
+version = "1.7.0"
+description = "A list-like structure which implements collections.abc.MutableSequence"
+optional = true
+python-versions = ">=3.9"
+groups = ["main"]
+markers = "extra == \"health\""
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+
 [[package]]
 name = "gitignore-parser"
 version = "0.1.11"
@@ -474,12 +763,12 @@ files = [
 zipp = ">=3.20"
 
 [package.extras]
-check = ["pytest-checkdocs (>=2.4)", "pytest-ruff (>=0.2.1)"]
+check = ["pytest-checkdocs (>=2.4)", "pytest-ruff (>=0.2.1) ; sys_platform != \"cygwin\""]
 cover = ["pytest-cov"]
 doc = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-lint"]
 enabler = ["pytest-enabler (>=2.2)"]
 perf = ["ipython"]
-test = ["flufl.flake8", "importlib_resources (>=1.3)", "jaraco.test (>=5.4)", "packaging", "pyfakefs", "pytest (>=6,!=8.1.*)", "pytest-perf (>=0.9.2)"]
+test = ["flufl.flake8", "importlib_resources (>=1.3) ; python_version < \"3.9\"", "jaraco.test (>=5.4)", "packaging", "pyfakefs", "pytest (>=6,!=8.1.*)", "pytest-perf (>=0.9.2)"]
 type = ["pytest-mypy"]
 
 [[package]]
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 ]
 
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+
 [[package]]
 name = "psutil"
 version = "7.0.0"
@@ -930,7 +1452,7 @@ typing-extensions = ">=4.12.2"
 
 [package.extras]
 email = ["email-validator (>=2.0.0)"]
-timezone = ["tzdata"]
+timezone = ["tzdata ; python_version >= \"3.9\" and platform_system == \"Windows\""]
 
 [[package]]
 name = "pydantic-core"
@@ -1653,7 +2175,7 @@ platformdirs = ">=3.9.1,<5"
 
 [package.extras]
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+test = ["covdefaults (>=2.3)", "coverage (>=7.2.7)", "coverage-enable-subprocess (>=1)", "flaky (>=3.7)", "packaging (>=23.1)", "pytest (>=7.4)", "pytest-env (>=0.8.2)", "pytest-freezer (>=0.4.8) ; platform_python_implementation == \"PyPy\" or platform_python_implementation == \"CPython\" and sys_platform == \"win32\" and python_version >= \"3.13\"", "pytest-mock (>=3.11.1)", "pytest-randomly (>=3.12)", "pytest-timeout (>=2.1)", "setuptools (>=68)", "time-machine (>=2.10) ; platform_python_implementation == \"CPython\""]
 
 [[package]]
 name = "watchdog"
@@ -1704,6 +2226,126 @@ files = [
 [package.extras]
 watchmedo = ["PyYAML (>=3.10)"]
 
+[[package]]
+name = "yarl"
+version = "1.20.1"
+description = "Yet another URL library"
+optional = true
+python-versions = ">=3.9"
+groups = ["main"]
+markers = "extra == \"health\""
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+    {file = "yarl-1.20.1-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:9427925776096e664c39e131447aa20ec738bdd77c049c48ea5200db2237e000"},
+    {file = "yarl-1.20.1-cp39-cp39-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:ff70f32aa316393eaf8222d518ce9118148eddb8a53073c2403863b41033eed5"},
+    {file = "yarl-1.20.1-cp39-cp39-musllinux_1_2_aarch64.whl", hash = "sha256:c7ddf7a09f38667aea38801da8b8d6bfe81df767d9dfc8c88eb45827b195cd1c"},
+    {file = "yarl-1.20.1-cp39-cp39-musllinux_1_2_armv7l.whl", hash = "sha256:57edc88517d7fc62b174fcfb2e939fbc486a68315d648d7e74d07fac42cec240"},
+    {file = "yarl-1.20.1-cp39-cp39-musllinux_1_2_i686.whl", hash = "sha256:dab096ce479d5894d62c26ff4f699ec9072269d514b4edd630a393223f45a0ee"},
+    {file = "yarl-1.20.1-cp39-cp39-musllinux_1_2_ppc64le.whl", hash = "sha256:14a85f3bd2d7bb255be7183e5d7d6e70add151a98edf56a770d6140f5d5f4010"},
+    {file = "yarl-1.20.1-cp39-cp39-musllinux_1_2_s390x.whl", hash = "sha256:2c89b5c792685dd9cd3fa9761c1b9f46fc240c2a3265483acc1565769996a3f8"},
+    {file = "yarl-1.20.1-cp39-cp39-musllinux_1_2_x86_64.whl", hash = "sha256:69e9b141de5511021942a6866990aea6d111c9042235de90e08f94cf972ca03d"},
+    {file = "yarl-1.20.1-cp39-cp39-win32.whl", hash = "sha256:b5f307337819cdfdbb40193cad84978a029f847b0a357fbe49f712063cfc4f06"},
+    {file = "yarl-1.20.1-cp39-cp39-win_amd64.whl", hash = "sha256:eae7bfe2069f9c1c5b05fc7fe5d612e5bbc089a39309904ee8b829e322dcad00"},
+    {file = "yarl-1.20.1-py3-none-any.whl", hash = "sha256:83b8eb083fe4683c6115795d9fc1cfaf2cbbefb19b3a1cb68f6527460f483a77"},
+    {file = "yarl-1.20.1.tar.gz", hash = "sha256:d017a4997ee50c91fd5466cef416231bb82177b93b029906cefc542ce14c35ac"},
+]
+
+[package.dependencies]
+idna = ">=2.0"
+multidict = ">=4.0"
+propcache = ">=0.2.1"
+
 [[package]]
 name = "zipp"
 version = "3.21.0"
@@ -1717,15 +2359,16 @@ files = [
 ]
 
 [package.extras]
-check = ["pytest-checkdocs (>=2.4)", "pytest-ruff (>=0.2.1)"]
+check = ["pytest-checkdocs (>=2.4)", "pytest-ruff (>=0.2.1) ; sys_platform != \"cygwin\""]
 cover = ["pytest-cov"]
 doc = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-lint"]
 enabler = ["pytest-enabler (>=2.2)"]
-test = ["big-O", "importlib-resources", "jaraco.functools", "jaraco.itertools", "jaraco.test", "more-itertools", "pytest (>=6,!=8.1.*)", "pytest-ignore-flaky"]
+test = ["big-O", "importlib-resources ; python_version < \"3.9\"", "jaraco.functools", "jaraco.itertools", "jaraco.test", "more-itertools", "pytest (>=6,!=8.1.*)", "pytest-ignore-flaky"]
 type = ["pytest-mypy"]
 
 [extras]
 cbor = ["cbor2"]
+health = ["aiohttp"]
 metrics = ["prometheus_client"]
 msgpack = ["msgpack"]
 orjson = ["orjson"]
@@ -1736,4 +2379,4 @@ zmq = ["pyzmq"]
 [metadata]
 lock-version = "2.1"
 python-versions = "^3.9"
-content-hash = "f7fa45982ee71a3fb81bce35d15c0d0b97769eaf9e07ac986525b73fb3dae175"
+content-hash = "fb11309631214907e6b8b4f651de4cf6b5881ce4803c8cb08247c185d324ab2d"
diff --git a/pyproject.toml b/pyproject.toml
index 9a08b75..170b265 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -49,6 +49,8 @@ pytz = "*"
 orjson = { version = "^3", optional = true }
 msgpack = { version = "^1.0.7", optional = true }
 cbor2 = { version = "^5", optional = true }
+# For health checks
+aiohttp = { version = "^3.8", optional = true }
 izulu = "0.50.0"
 
 [tool.poetry.group.dev.dependencies]
@@ -77,6 +79,7 @@ reload = ["watchdog", "gitignore-parser"]
 orjson = ["orjson"]
 msgpack = ["msgpack"]
 cbor = ["cbor2"]
+health = ["aiohttp"]
 
 [tool.poetry.scripts]
 taskiq = "taskiq.__main__:main"
diff --git a/taskiq/cli/worker/args.py b/taskiq/cli/worker/args.py
index ef187ab..5a0d9b2 100644
--- a/taskiq/cli/worker/args.py
+++ b/taskiq/cli/worker/args.py
@@ -53,6 +53,11 @@ class WorkerArgs:
     hardkill_count: int = 3
     use_process_pool: bool = False
 
+    # Health check arguments
+    health_check_enable: bool = False
+    health_check_port: int = 8081
+    health_check_timeout: float = 30.0
+
     @classmethod
     def from_cli(
         cls,
@@ -255,6 +260,26 @@ def from_cli(
             default=None,
             help="Maximum number of processes in process pool.",
         )
+        parser.add_argument(
+            "--health-check-enable",
+            action="store_true",
+            dest="health_check_enable",
+            help="Enable HTTP health check endpoints for Kubernetes probes.",
+        )
+        parser.add_argument(
+            "--health-check-port",
+            type=int,
+            dest="health_check_port",
+            default=8081,
+            help="Port for health check HTTP server.",
+        )
+        parser.add_argument(
+            "--health-check-timeout",
+            type=float,
+            dest="health_check_timeout",
+            default=30.0,
+            help="Seconds before worker considered unresponsive.",
+        )
 
         namespace = parser.parse_args(args)
         # If there are any patterns specified, remove default.
diff --git a/taskiq/cli/worker/process_manager.py b/taskiq/cli/worker/process_manager.py
index 0fd6b4a..fccf179 100644
--- a/taskiq/cli/worker/process_manager.py
+++ b/taskiq/cli/worker/process_manager.py
@@ -1,3 +1,4 @@
+import asyncio
 import logging
 import os
 import signal
@@ -20,6 +21,16 @@
 
 from taskiq.cli.worker.args import WorkerArgs
 
+try:
+    from taskiq.health.heartbeat import WorkerHeartbeatArray
+    from taskiq.health.server import HealthCheckServer
+
+    health_available = True
+except ImportError:
+    WorkerHeartbeatArray = None  # type: ignore[assignment, misc]
+    HealthCheckServer = None  # type: ignore[assignment, misc]
+    health_available = False
+
 logger = logging.getLogger("taskiq.process-manager")
 
 
@@ -61,6 +72,7 @@ def handle(
         workers: List[Process],
         args: WorkerArgs,
         worker_func: Callable[[WorkerArgs], None],
+        heartbeat_array: Optional[Any] = None,
     ) -> None:
         """
         This action reloads a single process.
@@ -68,6 +80,7 @@ def handle(
         :param workers: known children processes.
         :param args: args for new process.
         :param worker_func: function that is used to start worker processes.
+        :param heartbeat_array: optional heartbeat array for health checks.
         """
         if self.worker_num < 0 or self.worker_num >= len(workers):
             logger.warning("Unknown worker id.")
@@ -76,18 +89,45 @@ def handle(
         try:
             worker.terminate()
         except ValueError:
-            logger.debug(f"Process {worker.name} is already terminated.")
+            logger.debug("Process %s is already terminated.", worker.name)
         # Waiting worker shutdown.
         worker.join()
         event: EventType = Event()
-        new_process = Process(
-            target=worker_func,
-            kwargs={"args": args},
-            name=f"worker-{self.worker_num}",
-            daemon=False,
-        )
+
+        # Create wrapper function if health checks enabled
+        if heartbeat_array is not None:
+
+            def make_worker_wrapper(
+                worker_id: int,
+                heartbeat_array: Any,
+            ) -> Callable[[], None]:
+                def _wrapper() -> None:
+                    from taskiq.cli.worker.run import start_listen
+
+                    start_listen(args, worker_id, heartbeat_array)
+
+                return _wrapper
+
+            worker_wrapper = make_worker_wrapper(self.worker_num, heartbeat_array)
+
+            new_process = Process(
+                target=worker_wrapper,
+                name=f"worker-{self.worker_num}",
+                daemon=False,
+            )
+        else:
+            new_process = Process(
+                target=worker_func,
+                kwargs={"args": args},
+                name=f"worker-{self.worker_num}",
+                daemon=False,
+            )
         new_process.start()
-        logger.info(f"Process {new_process.name} restarted with pid {new_process.pid}")
+        logger.info(
+            "Process %s restarted with pid %s",
+            new_process.name,
+            new_process.pid,
+        )
         workers[self.worker_num] = new_process
         _wait_for_worker_startup(new_process, event)
 
@@ -98,6 +138,12 @@ class ShutdownAction(ProcessActionBase):
 
 
 def _wait_for_worker_startup(process: Process, event: EventType) -> None:
+    """Wait for worker process to start up.
+
+    Args:
+        process: The worker process to wait for
+        event: Event that signals worker startup (currently unused)
+    """
     while process.is_alive():
         with suppress(TimeoutError):
             event.wait(0.1)
@@ -138,7 +184,7 @@ def _signal_handler(signum: int, _frame: Any) -> None:
         if current_process().name.startswith("worker"):
             raise KeyboardInterrupt
 
-        logger.debug(f"Got signal {signum}.")
+        logger.debug("Got signal %d.", signum)
         action_queue.put(action_to_send)
         logger.warning("Workers are scheduled for shutdown.")
 
@@ -163,10 +209,27 @@ def __init__(
         self.worker_function = worker_function
         self.action_queue: "Queue[ProcessActionBase]" = Queue(-1)
         self.args = args
+
+        # Initialize heartbeat system if health checks enabled
+        self.heartbeat_array: Optional[Any] = None
+        self.health_server: Optional[Any] = None
+        self._health_server_task: Optional[asyncio.Task[None]] = None
+
+        if args.health_check_enable and health_available:
+            self.heartbeat_array = WorkerHeartbeatArray(args.workers)  # type: ignore[misc]
+            self.health_server = HealthCheckServer(  # type: ignore[misc]
+                port=args.health_check_port,
+                heartbeat_array=self.heartbeat_array,
+                timeout=args.health_check_timeout,
+            )
+        elif args.health_check_enable and not health_available:
+            logger.warning(
+                "Health checks requested but health module not available",
+            )
         if args.reload and observer is not None:
             watch_paths = args.reload_dirs if args.reload_dirs else ["."]
             for path_to_watch in watch_paths:
-                logger.debug(f"Watching directory: {path_to_watch}")
+                logger.debug("Watching directory: %s", path_to_watch)
                 observer.schedule(
                     FileWatcher(
                         callback=schedule_workers_reload,
@@ -189,17 +252,52 @@ def __init__(
 
         self.workers: List[Process] = []
 
+    async def start_health_server(self) -> None:
+        """Start health check server in main process."""
+        if self.health_server:
+            await self.health_server.start()
+
+    async def stop_health_server(self) -> None:
+        """Stop health check server."""
+        if self.health_server:
+            await self.health_server.stop()
+
     def prepare_workers(self) -> None:
         """Spawn multiple processes."""
         events: List[EventType] = []
         for process in range(self.args.workers):
             event = Event()
-            work_proc = Process(
-                target=self.worker_function,
-                kwargs={"args": self.args},
-                name=f"worker-{process}",
-                daemon=False,
-            )
+
+            # Create wrapper function if health checks enabled
+            if self.heartbeat_array is not None:
+                # Use a factory function to avoid closure issues
+                def make_worker_wrapper(
+                    worker_id: int,
+                    heartbeat_array: Any,
+                ) -> Callable[[], None]:
+                    def _wrapper() -> None:
+                        # Import start_listen locally to avoid circular imports
+                        from taskiq.cli.worker.run import start_listen
+
+                        start_listen(self.args, worker_id, heartbeat_array)
+
+                    return _wrapper
+
+                worker_wrapper = make_worker_wrapper(process, self.heartbeat_array)
+
+                work_proc = Process(
+                    target=worker_wrapper,
+                    name=f"worker-{process}",
+                    daemon=False,
+                )
+            else:
+                # Normal case without health checks
+                work_proc = Process(
+                    target=self.worker_function,
+                    kwargs={"args": self.args},
+                    name=f"worker-{process}",
+                    daemon=False,
+                )
             work_proc.start()
             logger.info(
                 "Started process worker-%d with pid %s ",
@@ -213,6 +311,37 @@ def prepare_workers(self) -> None:
         for worker, event in zip(self.workers, events):
             _wait_for_worker_startup(worker, event)
 
+    def _start_health_server_if_needed(self) -> None:
+        """Start health server in background thread if enabled."""
+        if self.health_server:
+            import asyncio
+            import threading
+
+            def run_health_server() -> None:
+                loop = asyncio.new_event_loop()
+                asyncio.set_event_loop(loop)
+                try:
+                    # We know health_server is not None due to outer check
+                    if self.health_server is None:
+                        raise RuntimeError("Health server is unexpectedly None")
+                    loop.run_until_complete(self.health_server.start())
+                    # Keep the server running
+                    loop.run_forever()
+                except Exception as exc:
+                    logger.error("Health server error: %s", exc)
+                finally:
+                    loop.close()
+
+            health_thread = threading.Thread(target=run_health_server, daemon=True)
+            health_thread.start()
+            logger.info("Health check server started in background thread")
+
+    def _stop_health_server_if_needed(self) -> None:
+        """Stop health server if running."""
+        if self.health_server:
+            # The server will be stopped when the daemon thread exits
+            logger.info("Health check server will stop with main process")
+
     def start(self) -> Optional[int]:  # noqa: C901
         """
         Start managing child processes.
@@ -243,13 +372,16 @@ def start(self) -> Optional[int]:  # noqa: C901
         """
         restarts = 0
         self.prepare_workers()
+
+        # Start health server if enabled
+        self._start_health_server_if_needed()
         while True:
             sleep(1)
             reloaded_workers = set()
             # We bulk_process all pending events.
             while not self.action_queue.empty():
                 action = self.action_queue.get()
-                logging.debug(f"Got event: {action}")
+                logging.debug("Got event: %s", action)
                 if isinstance(action, ReloadAllAction):
                     action.handle(
                         workers_num=len(self.workers),
@@ -268,18 +400,24 @@ def start(self) -> Optional[int]:  # noqa: C901
                     # If we just reloaded this worker, skip handling.
                     if action.worker_num in reloaded_workers:
                         continue
-                    action.handle(self.workers, self.args, self.worker_function)
+                    action.handle(
+                        self.workers,
+                        self.args,
+                        self.worker_function,
+                        self.heartbeat_array,
+                    )
                     reloaded_workers.add(action.worker_num)
                 elif isinstance(action, ShutdownAction):
                     logger.debug("Process manager closed, killing workers.")
                     for worker in self.workers:
                         if worker.pid:
                             os.kill(worker.pid, signal.SIGINT)
+                    self._stop_health_server_if_needed()
                     return None
 
             for worker_num, worker in enumerate(self.workers):
                 if not worker.is_alive():
-                    logger.info(f"{worker.name} is dead. Scheduling reload.")
+                    logger.info("%s is dead. Scheduling reload.", worker.name)
                     self.action_queue.put(
                         ReloadOneAction(
                             worker_num=worker_num,
diff --git a/taskiq/cli/worker/run.py b/taskiq/cli/worker/run.py
index 3d58fed..a66a774 100644
--- a/taskiq/cli/worker/run.py
+++ b/taskiq/cli/worker/run.py
@@ -9,6 +9,14 @@
 from sys import platform
 from typing import Any, Optional, Type
 
+try:
+    from taskiq.health.middleware import HeartbeatMiddleware
+
+    health_available = True
+except ImportError:
+    HeartbeatMiddleware = None  # type: ignore[assignment, misc]
+    health_available = False
+
 from taskiq.abc.broker import AsyncBroker
 from taskiq.cli.utils import import_object, import_tasks
 from taskiq.cli.worker.args import WorkerArgs
@@ -70,7 +78,11 @@ def get_receiver_type(args: WorkerArgs) -> Type[Receiver]:
     return receiver_type
 
 
-def start_listen(args: WorkerArgs) -> None:
+def start_listen(  # noqa: PLR0915
+    args: WorkerArgs,
+    worker_id: Optional[int] = None,
+    heartbeat_array: Optional[Any] = None,
+) -> None:
     """
     This function starts actual listening process.
 
@@ -78,9 +90,9 @@ def start_listen(args: WorkerArgs) -> None:
     Since tasks auto registers themselves in a broker,
     we don't need to do anything else other than importing.
 
-
     :param args: CLI arguments.
-    :param event: Event for notification.
+    :param worker_id: Optional worker ID for health check tracking.
+    :param heartbeat_array: Optional heartbeat array for health monitoring.
     :raises ValueError: if broker is not an AsyncBroker instance.
     :raises ValueError: if receiver is not a Receiver type.
     """
@@ -103,7 +115,7 @@ def interrupt_handler(signum: int, _frame: Any) -> None:
         :param _frame: current execution frame.
         :raises KeyboardInterrupt: if termination hasn't begun.
         """
-        logger.debug(f"Got signal {signum}.")
+        logger.debug("Got signal %d.", signum)
         nonlocal shutdown_event
         nonlocal hardkill_counter
         # Soft kill is a signal to start shutdown.
@@ -145,6 +157,17 @@ def interrupt_handler(signum: int, _frame: Any) -> None:
     broker.is_worker_process = True
     import_tasks(args.modules, args.tasks_pattern, args.fs_discover)
 
+    # Add heartbeat middleware if health checks enabled
+    if (
+        heartbeat_array is not None
+        and worker_id is not None
+        and health_available
+        and args.health_check_enable
+    ):
+        heartbeat_middleware = HeartbeatMiddleware(heartbeat_array, worker_id)
+        broker.add_middlewares(heartbeat_middleware)
+        logger.debug("Added heartbeat middleware for worker %d", worker_id)
+
     receiver_type = get_receiver_type(args)
     receiver_kwargs = dict(args.receiver_arg)
 
diff --git a/taskiq/health/__init__.py b/taskiq/health/__init__.py
new file mode 100644
index 0000000..4396bdc
--- /dev/null
+++ b/taskiq/health/__init__.py
@@ -0,0 +1,6 @@
+"""Health check system for Taskiq workers."""
+from .heartbeat import WorkerHeartbeatArray
+from .middleware import HeartbeatMiddleware
+from .server import HealthCheckServer
+
+__all__ = ["HealthCheckServer", "HeartbeatMiddleware", "WorkerHeartbeatArray"]
diff --git a/taskiq/health/heartbeat.py b/taskiq/health/heartbeat.py
new file mode 100644
index 0000000..fdd47f7
--- /dev/null
+++ b/taskiq/health/heartbeat.py
@@ -0,0 +1,95 @@
+"""Heartbeat array for worker health monitoring."""
+import time
+from multiprocessing import Array
+from typing import Dict, List, Union
+
+
+class WorkerHeartbeatArray:
+    """Fast shared memory array for worker heartbeat tracking."""
+
+    def __init__(self, num_workers: int) -> None:
+        """Initialize heartbeat array.
+
+        Args:
+            num_workers: Number of worker processes to monitor
+        """
+        self.num_workers = num_workers
+        # Array of doubles (timestamps), one slot per worker
+        self.heartbeats = Array("d", [0.0] * num_workers)
+
+    def update_worker_heartbeat(self, worker_id: int) -> None:
+        """Update heartbeat timestamp for a specific worker.
+
+        Called by worker process to report heartbeat.
+
+        Args:
+            worker_id: ID of the worker process (0-based index)
+        """
+        if 0 <= worker_id < self.num_workers:
+            self.heartbeats[worker_id] = time.time()
+
+    def get_alive_workers(
+        self,
+        timeout: float = 30.0,
+    ) -> List[Dict[str, Union[int, float]]]:
+        """Get list of alive workers based on heartbeat timeout.
+
+        Called by main process to check worker health.
+
+        Args:
+            timeout: Seconds after which worker is considered dead
+
+        Returns:
+            List of dictionaries with worker status information
+        """
+        current_time = time.time()
+        alive_workers = []
+
+        for worker_id in range(self.num_workers):
+            last_heartbeat = self.heartbeats[worker_id]
+            if last_heartbeat > 0 and (current_time - last_heartbeat) <= timeout:
+                alive_workers.append(
+                    {
+                        "worker_id": worker_id,
+                        "last_heartbeat": last_heartbeat,
+                        "seconds_ago": current_time - last_heartbeat,
+                    },
+                )
+
+        return alive_workers
+
+    def is_any_worker_alive(self, timeout: float = 30.0) -> bool:
+        """Check if any worker is alive.
+
+        Strategy 3: Pass if ANY worker is alive.
+
+        Args:
+            timeout: Seconds after which worker is considered dead
+
+        Returns:
+            True if at least one worker is responsive
+        """
+        return len(self.get_alive_workers(timeout)) > 0
+
+    def get_worker_status(self, worker_id: int, timeout: float = 30.0) -> str:
+        """Get status of a specific worker.
+
+        Args:
+            worker_id: ID of the worker to check
+            timeout: Seconds after which worker is considered dead
+
+        Returns:
+            Status string: 'not_started', 'alive', or 'dead'
+        """
+        if worker_id < 0 or worker_id >= self.num_workers:
+            return "invalid_id"
+
+        last_heartbeat = self.heartbeats[worker_id]
+
+        if last_heartbeat == 0:
+            return "not_started"
+
+        current_time = time.time()
+        seconds_ago = current_time - last_heartbeat
+
+        return "alive" if seconds_ago <= timeout else "dead"
diff --git a/taskiq/health/middleware.py b/taskiq/health/middleware.py
new file mode 100644
index 0000000..0882c45
--- /dev/null
+++ b/taskiq/health/middleware.py
@@ -0,0 +1,84 @@
+"""Heartbeat middleware for worker health reporting."""
+import asyncio
+import logging
+from contextlib import suppress
+from typing import Any, Optional
+
+from taskiq.abc.middleware import TaskiqMiddleware
+from taskiq.message import TaskiqMessage
+from taskiq.result import TaskiqResult
+
+from .heartbeat import WorkerHeartbeatArray
+
+logger = logging.getLogger("taskiq.health")
+
+
+class HeartbeatMiddleware(TaskiqMiddleware):
+    """Middleware that reports worker heartbeats to shared memory array."""
+
+    def __init__(
+        self,
+        heartbeat_array: WorkerHeartbeatArray,
+        worker_id: int,
+        heartbeat_interval: float = 10.0,
+    ) -> None:
+        """Initialize heartbeat middleware.
+
+        Args:
+            heartbeat_array: Shared memory array for heartbeat storage
+            worker_id: Unique ID of this worker process
+            heartbeat_interval: Seconds between heartbeat updates
+        """
+        super().__init__()
+        self.heartbeat_array = heartbeat_array
+        self.worker_id = worker_id
+        self.heartbeat_interval = heartbeat_interval
+        self.heartbeat_task: Optional[asyncio.Task[None]] = None
+        self._stopped = False
+
+    async def startup(self) -> None:
+        """Start heartbeat reporting only in worker processes."""
+        if self.broker.is_worker_process:
+            logger.debug("Starting heartbeat for worker %d", self.worker_id)
+            # Send initial heartbeat
+            self.heartbeat_array.update_worker_heartbeat(self.worker_id)
+            # Start periodic heartbeat task
+            self.heartbeat_task = asyncio.create_task(self._heartbeat_loop())
+
+    async def shutdown(self) -> None:
+        """Stop heartbeat reporting."""
+        self._stopped = True
+        if self.heartbeat_task:
+            self.heartbeat_task.cancel()
+            with suppress(asyncio.CancelledError):
+                await self.heartbeat_task
+            logger.debug("Stopped heartbeat for worker %d", self.worker_id)
+
+    async def _heartbeat_loop(self) -> None:
+        """Report heartbeat every interval seconds."""
+        while not self._stopped:
+            try:
+                self.heartbeat_array.update_worker_heartbeat(self.worker_id)
+                await asyncio.sleep(self.heartbeat_interval)
+            except asyncio.CancelledError:
+                break
+            except Exception as exc:
+                logger.warning(
+                    "Heartbeat error for worker %d: %s",
+                    self.worker_id,
+                    exc,
+                    exc_info=True,
+                )
+                # Continue heartbeat loop even on errors
+                await asyncio.sleep(1.0)
+
+    def pre_execute(self, message: TaskiqMessage) -> TaskiqMessage:
+        """Update heartbeat before task execution."""
+        if self.broker.is_worker_process:
+            self.heartbeat_array.update_worker_heartbeat(self.worker_id)
+        return message
+
+    def post_execute(self, message: TaskiqMessage, result: TaskiqResult[Any]) -> None:
+        """Update heartbeat after task execution."""
+        if self.broker.is_worker_process:
+            self.heartbeat_array.update_worker_heartbeat(self.worker_id)
diff --git a/taskiq/health/server.py b/taskiq/health/server.py
new file mode 100644
index 0000000..8a744dc
--- /dev/null
+++ b/taskiq/health/server.py
@@ -0,0 +1,142 @@
+"""HTTP health check server for Kubernetes probes."""
+import logging
+import time
+from typing import TYPE_CHECKING, Optional
+
+if TYPE_CHECKING:
+    from aiohttp import web
+else:
+    try:
+        from aiohttp import web
+    except ImportError as exc:
+        raise ImportError(
+            "Cannot import aiohttp. "
+            "Please install 'taskiq[health]' to use health checks.",
+        ) from exc
+
+from .heartbeat import WorkerHeartbeatArray
+
+logger = logging.getLogger("taskiq.health")
+
+
+class HealthCheckServer:
+    """HTTP server providing health check endpoints for Kubernetes."""
+
+    def __init__(
+        self,
+        port: int,
+        heartbeat_array: WorkerHeartbeatArray,
+        timeout: float = 30.0,
+    ) -> None:
+        """Initialize health check server.
+
+        Args:
+            port: HTTP server port
+            heartbeat_array: Shared heartbeat array
+            timeout: Seconds before worker considered dead
+        """
+        self.port = port
+        self.heartbeat_array = heartbeat_array
+        self.timeout = timeout
+        self.app: Optional[web.Application] = None
+        self.runner: Optional[web.AppRunner] = None
+
+    async def start(self) -> None:
+        """Start HTTP health check server."""
+        self.app = web.Application()
+        self.app.router.add_get("/health/live", self.liveness_check)
+        self.app.router.add_get("/health/ready", self.readiness_check)
+        self.app.router.add_get("/health/status", self.detailed_status)
+
+        self.runner = web.AppRunner(self.app)
+        await self.runner.setup()
+
+        site = web.TCPSite(self.runner, "0.0.0.0", self.port)  # noqa: S104
+        await site.start()
+        logger.info("Health check server started on port %d", self.port)
+
+    async def stop(self) -> None:
+        """Stop HTTP server."""
+        if self.runner:
+            await self.runner.cleanup()
+            logger.info("Health check server stopped on port %d", self.port)
+
+    async def liveness_check(self, request: "web.Request") -> "web.Response":
+        """Kubernetes liveness probe - Strategy 3: Pass if any worker alive.
+
+        Returns HTTP 200 if at least one worker is responsive,
+        HTTP 503 if all workers are unresponsive.
+        """
+        alive_workers = self.heartbeat_array.get_alive_workers(self.timeout)
+
+        if len(alive_workers) > 0:
+            return web.json_response(
+                {
+                    "status": "healthy",
+                    "alive_workers": (
+                        f"{len(alive_workers)}/{self.heartbeat_array.num_workers}"
+                    ),
+                    "timestamp": time.time(),
+                },
+                headers={
+                    "Cache-Control": "no-cache, no-store, must-revalidate",
+                    "X-Content-Type-Options": "nosniff",
+                },
+            )
+        return web.json_response(
+            {
+                "status": "unhealthy",
+                "reason": "All workers unresponsive",
+                "alive_workers": f"0/{self.heartbeat_array.num_workers}",
+                "timestamp": time.time(),
+            },
+            status=503,
+            headers={
+                "Cache-Control": "no-cache, no-store, must-revalidate",
+                "X-Content-Type-Options": "nosniff",
+            },
+        )
+
+    async def readiness_check(self, request: "web.Request") -> "web.Response":
+        """Kubernetes readiness probe - same logic as liveness for now."""
+        return await self.liveness_check(request)
+
+    async def detailed_status(self, request: "web.Request") -> "web.Response":
+        """Detailed worker status for debugging."""
+        alive_workers = self.heartbeat_array.get_alive_workers(self.timeout)
+        current_time = time.time()
+
+        worker_details = []
+        for worker_id in range(self.heartbeat_array.num_workers):
+            last_heartbeat = self.heartbeat_array.heartbeats[worker_id]
+
+            if last_heartbeat == 0:
+                status = "not_started"
+                seconds_ago = None
+            else:
+                seconds_ago = current_time - last_heartbeat
+                status = "alive" if seconds_ago <= self.timeout else "dead"
+
+            worker_details.append(
+                {
+                    "worker_id": worker_id,
+                    "status": status,
+                    "last_heartbeat": last_heartbeat,
+                    "seconds_ago": seconds_ago,
+                },
+            )
+
+        return web.json_response(
+            {
+                "overall_status": "healthy" if len(alive_workers) > 0 else "unhealthy",
+                "alive_workers": len(alive_workers),
+                "total_workers": self.heartbeat_array.num_workers,
+                "timeout_seconds": self.timeout,
+                "workers": worker_details,
+                "timestamp": current_time,
+            },
+            headers={
+                "Cache-Control": "no-cache, no-store, must-revalidate",
+                "X-Content-Type-Options": "nosniff",
+            },
+        )