diff --git a/docs/gateway/configuration.md b/docs/gateway/configuration.md
index 5a00ea9cd..c522ddd5b 100644
--- a/docs/gateway/configuration.md
+++ b/docs/gateway/configuration.md
@@ -2861,6 +2861,14 @@ Trusted proxies:
 - When a connection comes from one of these IPs, OpenClaw uses `x-forwarded-for` (or `x-real-ip`) to determine the client IP for local pairing checks and HTTP auth/local checks.
 - Only list proxies you fully control, and ensure they **overwrite** incoming `x-forwarded-for`.
 
+Device auto-approve:
+- `gateway.devices.autoApprove` controls whether new device pairing requests are auto-approved.
+- Valid values: `"none"` (default) or `"tailscale"`.
+- `"none"`: only local (loopback) connections are auto-approved; remote connections require manual approval.
+- `"tailscale"`: auto-approve when the connection authenticates via Tailscale Serve identity (verified via `tailscale whois`).
+- This is useful for personal tailnets where you trust all machines on your network.
+- For shared or corporate tailnets, consider keeping `"none"` and approving devices manually.
+
 Notes:
 - `openclaw gateway` refuses to start unless `gateway.mode` is set to `local` (or you pass the override flag).
 - `gateway.port` controls the single multiplexed port used for WebSocket + HTTP (control UI, hooks, A2UI).
diff --git a/src/config/config.gateway-devices-autoapprove.test.ts b/src/config/config.gateway-devices-autoapprove.test.ts
new file mode 100644
index 000000000..2ca92b68e
--- /dev/null
+++ b/src/config/config.gateway-devices-autoapprove.test.ts
@@ -0,0 +1,83 @@
+import { describe, expect, it } from "vitest";
+
+import { MoltbotSchema } from "./zod-schema.js";
+
+describe("gateway.devices.autoApprove config", () => {
+  it("accepts valid autoApprove=none", () => {
+    const result = MoltbotSchema.safeParse({
+      gateway: {
+        devices: {
+          autoApprove: "none",
+        },
+      },
+    });
+    expect(result.success).toBe(true);
+    if (result.success) {
+      expect(result.data.gateway?.devices?.autoApprove).toBe("none");
+    }
+  });
+
+  it("accepts valid autoApprove=tailscale", () => {
+    const result = MoltbotSchema.safeParse({
+      gateway: {
+        devices: {
+          autoApprove: "tailscale",
+        },
+      },
+    });
+    expect(result.success).toBe(true);
+    if (result.success) {
+      expect(result.data.gateway?.devices?.autoApprove).toBe("tailscale");
+    }
+  });
+
+  it("accepts omitted autoApprove (defaults to none)", () => {
+    const result = MoltbotSchema.safeParse({
+      gateway: {
+        devices: {},
+      },
+    });
+    expect(result.success).toBe(true);
+    if (result.success) {
+      expect(result.data.gateway?.devices?.autoApprove).toBeUndefined();
+    }
+  });
+
+  it("accepts omitted devices config entirely", () => {
+    const result = MoltbotSchema.safeParse({
+      gateway: {
+        port: 18789,
+      },
+    });
+    expect(result.success).toBe(true);
+    if (result.success) {
+      expect(result.data.gateway?.devices).toBeUndefined();
+    }
+  });
+
+  it("rejects invalid autoApprove values", () => {
+    const invalidValues = ["all", "always", "local", "open", "", "TAILSCALE", "Tailscale"];
+    for (const value of invalidValues) {
+      const result = MoltbotSchema.safeParse({
+        gateway: {
+          devices: {
+            autoApprove: value,
+          },
+        },
+      });
+      expect(result.success, `should reject autoApprove=${value}`).toBe(false);
+    }
+  });
+
+  it("rejects extra properties in devices config", () => {
+    const result = MoltbotSchema.safeParse({
+      gateway: {
+        devices: {
+          autoApprove: "none",
+          unknownProperty: "value",
+        },
+      },
+    });
+    expect(result.success).toBe(false);
+  });
+});
diff --git a/src/config/schema.test.ts b/src/config/schema.test.ts
index c6525ad82..e29806f5e 100644
--- a/src/config/schema.test.ts
+++ b/src/config/schema.test.ts
@@ -102,4 +102,12 @@ describe("config schema", () => {
     expect(defaultsHint?.help).toContain("last");
     expect(listHint?.help).toContain("bluebubbles");
   });
+
+  it("includes gateway.devices.autoApprove ui hints", () => {
+    const res = buildConfigSchema();
+    const autoApproveHint = res.uiHints["gateway.devices.autoApprove"];
+    expect(autoApproveHint?.label).toBe("Device Auto-Approve Policy");
+    expect(autoApproveHint?.help).toContain("none");
+    expect(autoApproveHint?.help).toContain("tailscale");
+  });
 });
diff --git a/src/config/schema.ts b/src/config/schema.ts
index 1401b0574..ba40f1c7c 100644
--- a/src/config/schema.ts
+++ b/src/config/schema.ts
@@ -209,6 +209,7 @@ const FIELD_LABELS: Record<string, string> = {
   "gateway.nodes.browser.node": "Gateway Node Browser Pin",
   "gateway.nodes.allowCommands": "Gateway Node Allowlist (Extra Commands)",
   "gateway.nodes.denyCommands": "Gateway Node Denylist",
+  "gateway.devices.autoApprove": "Device Auto-Approve Policy",
   "nodeHost.browserProxy.enabled": "Node Browser Proxy Enabled",
   "nodeHost.browserProxy.allowProfiles": "Node Browser Proxy Allowed Profiles",
   "skills.load.watch": "Watch Skills",
@@ -399,6 +400,8 @@ const FIELD_HELP: Record<string, string> = {
     "Extra node.invoke commands to allow beyond the gateway defaults (array of command strings).",
   "gateway.nodes.denyCommands":
     "Commands to block even if present in node claims or default allowlist.",
+  "gateway.devices.autoApprove":
+    'Auto-approve policy for new device pairing requests ("none" or "tailscale").',
   "nodeHost.browserProxy.enabled": "Expose the local browser control server via node proxy.",
   "nodeHost.browserProxy.allowProfiles":
     "Optional allowlist of browser profile names exposed via the node proxy.",
diff --git a/src/config/types.gateway.ts b/src/config/types.gateway.ts
index d7943acce..bf1a57bfc 100644
--- a/src/config/types.gateway.ts
+++ b/src/config/types.gateway.ts
@@ -1,5 +1,12 @@
 export type GatewayBindMode = "auto" | "lan" | "loopback" | "custom" | "tailnet";
 
+export type GatewayDeviceAutoApproveMode = "none" | "tailscale";
+
+export type GatewayDevicesConfig = {
+  /** Auto-approve policy for new device pairing requests. */
+  autoApprove?: GatewayDeviceAutoApproveMode;
+};
+
 export type GatewayTlsConfig = {
   /** Enable TLS for the gateway server. */
   enabled?: boolean;
@@ -235,6 +242,8 @@ export type GatewayConfig = {
   tls?: GatewayTlsConfig;
   http?: GatewayHttpConfig;
   nodes?: GatewayNodesConfig;
+  /** Device pairing settings. */
+  devices?: GatewayDevicesConfig;
   /**
    * IPs of trusted reverse proxies (e.g. Traefik, nginx). When a connection
    * arrives from one of these IPs, the Gateway trusts `x-forwarded-for` (or
diff --git a/src/config/zod-schema.ts b/src/config/zod-schema.ts
index 961ba8ecb..3f1476afc 100644
--- a/src/config/zod-schema.ts
+++ b/src/config/zod-schema.ts
@@ -443,6 +443,12 @@ export const OpenClawSchema = z
           })
           .strict()
           .optional(),
+        devices: z
+          .object({
+            autoApprove: z.enum(["none", "tailscale"]).optional(),
+          })
+          .strict()
+          .optional(),
       })
       .strict()
       .optional(),
diff --git a/src/gateway/server-methods/devices.ts b/src/gateway/server-methods/devices.ts
index ebf7d7f94..8ff6b2ab4 100644
--- a/src/gateway/server-methods/devices.ts
+++ b/src/gateway/server-methods/devices.ts
@@ -84,6 +84,8 @@ export const deviceHandlers: GatewayRequestHandlers = {
         deviceId: approved.device.deviceId,
         decision: "approved",
         ts: Date.now(),
+        autoApproved: false,
+        autoApproveReason: null,
       },
       { dropIfSlow: true },
     );
@@ -116,6 +118,8 @@ export const deviceHandlers: GatewayRequestHandlers = {
         deviceId: rejected.deviceId,
         decision: "rejected",
         ts: Date.now(),
+        autoApproved: false,
+        autoApproveReason: null,
       },
       { dropIfSlow: true },
     );
diff --git a/src/gateway/server/ws-connection/device-auto-approve.test.ts b/src/gateway/server/ws-connection/device-auto-approve.test.ts
new file mode 100644
index 000000000..bbf210a3d
--- /dev/null
+++ b/src/gateway/server/ws-connection/device-auto-approve.test.ts
@@ -0,0 +1,152 @@
+import { describe, expect, it } from "vitest";
+
+import type { GatewayDeviceAutoApproveMode } from "../../../config/types.gateway.js";
+
+/**
+ * Replicates the shouldAutoApprove logic from message-handler.ts for testing.
+ * This must match the implementation in message-handler.ts exactly.
+ */
+function computeShouldAutoApprove(params: {
+  isLocalClient: boolean;
+  deviceAutoApprove: GatewayDeviceAutoApproveMode;
+  authMethod: string;
+}): boolean {
+  const { isLocalClient, deviceAutoApprove, authMethod } = params;
+  return isLocalClient || (deviceAutoApprove === "tailscale" && authMethod === "tailscale");
+}
+
+describe("device auto-approve logic", () => {
+  describe("local client", () => {
+    it("auto-approves local clients regardless of config", () => {
+      expect(
+        computeShouldAutoApprove({
+          isLocalClient: true,
+          deviceAutoApprove: "none",
+          authMethod: "token",
+        }),
+      ).toBe(true);
+    });
+
+    it("auto-approves local clients even with tailscale config", () => {
+      expect(
+        computeShouldAutoApprove({
+          isLocalClient: true,
+          deviceAutoApprove: "tailscale",
+          authMethod: "token",
+        }),
+      ).toBe(true);
+    });
+  });
+
+  describe("config=none (default)", () => {
+    it("does NOT auto-approve remote clients with token auth", () => {
+      expect(
+        computeShouldAutoApprove({
+          isLocalClient: false,
+          deviceAutoApprove: "none",
+          authMethod: "token",
+        }),
+      ).toBe(false);
+    });
+
+    it("does NOT auto-approve remote clients with password auth", () => {
+      expect(
+        computeShouldAutoApprove({
+          isLocalClient: false,
+          deviceAutoApprove: "none",
+          authMethod: "password",
+        }),
+      ).toBe(false);
+    });
+
+    it("does NOT auto-approve remote clients with tailscale auth when config is none", () => {
+      expect(
+        computeShouldAutoApprove({
+          isLocalClient: false,
+          deviceAutoApprove: "none",
+          authMethod: "tailscale",
+        }),
+      ).toBe(false);
+    });
+
+    it("does NOT auto-approve remote clients with device-token auth", () => {
+      expect(
+        computeShouldAutoApprove({
+          isLocalClient: false,
+          deviceAutoApprove: "none",
+          authMethod: "device-token",
+        }),
+      ).toBe(false);
+    });
+  });
+
+  describe("config=tailscale", () => {
+    it("auto-approves remote clients with tailscale auth", () => {
+      expect(
+        computeShouldAutoApprove({
+          isLocalClient: false,
+          deviceAutoApprove: "tailscale",
+          authMethod: "tailscale",
+        }),
+      ).toBe(true);
+    });
+
+    it("does NOT auto-approve remote clients with token auth", () => {
+      expect(
+        computeShouldAutoApprove({
+          isLocalClient: false,
+          deviceAutoApprove: "tailscale",
+          authMethod: "token",
+        }),
+      ).toBe(false);
+    });
+
+    it("does NOT auto-approve remote clients with password auth", () => {
+      expect(
+        computeShouldAutoApprove({
+          isLocalClient: false,
+          deviceAutoApprove: "tailscale",
+          authMethod: "password",
+        }),
+      ).toBe(false);
+    });
+
+    it("does NOT auto-approve remote clients with device-token auth", () => {
+      expect(
+        computeShouldAutoApprove({
+          isLocalClient: false,
+          deviceAutoApprove: "tailscale",
+          authMethod: "device-token",
+        }),
+      ).toBe(false);
+    });
+  });
+
+  describe("security invariants", () => {
+    it("never auto-approves non-tailscale remote auth when config is tailscale", () => {
+      const nonTailscaleAuthMethods = ["token", "password", "device-token", "unknown", ""];
+      for (const authMethod of nonTailscaleAuthMethods) {
+        expect(
+          computeShouldAutoApprove({
+            isLocalClient: false,
+            deviceAutoApprove: "tailscale",
+            authMethod,
+          }),
+        ).toBe(false);
+      }
+    });
+
+    it("never auto-approves any remote auth when config is none", () => {
+      const allAuthMethods = ["token", "password", "device-token", "tailscale", "unknown", ""];
+      for (const authMethod of allAuthMethods) {
+        expect(
+          computeShouldAutoApprove({
+            isLocalClient: false,
+            deviceAutoApprove: "none",
+            authMethod,
+          }),
+        ).toBe(false);
+      }
+    });
+  });
+});
diff --git a/src/gateway/server/ws-connection/message-handler.ts b/src/gateway/server/ws-connection/message-handler.ts
index 948d6cefb..3b1594e97 100644
--- a/src/gateway/server/ws-connection/message-handler.ts
+++ b/src/gateway/server/ws-connection/message-handler.ts
@@ -623,6 +623,10 @@ export function attachGatewayWsMessageHandler(params: {
 
         const skipPairing = allowControlUiBypass && hasSharedAuth;
         if (device && devicePublicKey && !skipPairing) {
+          const deviceAutoApprove = configSnapshot.gateway?.devices?.autoApprove ?? "none";
+          const shouldAutoApprove =
+            isLocalClient || (deviceAutoApprove === "tailscale" && authMethod === "tailscale");
+
           const requirePairing = async (reason: string, _paired?: { deviceId: string }) => {
             const pairing = await requestDevicePairing({
               deviceId: device.id,
@@ -634,7 +638,7 @@ export function attachGatewayWsMessageHandler(params: {
               role,
               scopes,
               remoteIp: reportedClientIp,
-              silent: isLocalClient,
+              silent: shouldAutoApprove,
             });
             const context = buildRequestContext();
             if (pairing.request.silent === true) {
@@ -650,6 +654,8 @@ export function attachGatewayWsMessageHandler(params: {
                     deviceId: approved.device.deviceId,
                     decision: "approved",
                     ts: Date.now(),
+                    autoApproved: true,
+                    autoApproveReason: isLocalClient ? "local" : "tailscale",
                   },
                   { dropIfSlow: true },
                 );
diff --git a/src/security/audit.test.ts b/src/security/audit.test.ts
index 0896e2a4f..541517cb9 100644
--- a/src/security/audit.test.ts
+++ b/src/security/audit.test.ts
@@ -104,6 +104,55 @@ describe("security audit", () => {
     );
   });
 
+  it("emits info when device auto-approve is set to tailscale", async () => {
+    const cfg: MoltbotConfig = {
+      gateway: {
+        devices: {
+          autoApprove: "tailscale",
+        },
+      },
+    };
+
+    const res = await runSecurityAudit({
+      config: cfg,
+      includeFilesystem: false,
+      includeChannelSecurity: false,
+    });
+
+    expect(res.findings).toEqual(
+      expect.arrayContaining([
+        expect.objectContaining({
+          checkId: "gateway.devices.auto_approve_tailscale",
+          severity: "info",
+        }),
+      ]),
+    );
+  });
+
+  it("does NOT emit device auto-approve finding when set to none", async () => {
+    const cfg: MoltbotConfig = {
+      gateway: {
+        devices: {
+          autoApprove: "none",
+        },
+      },
+    };
+
+    const res = await runSecurityAudit({
+      config: cfg,
+      includeFilesystem: false,
+      includeChannelSecurity: false,
+    });
+
+    expect(res.findings).not.toEqual(
+      expect.arrayContaining([
+        expect.objectContaining({
+          checkId: "gateway.devices.auto_approve_tailscale",
+        }),
+      ]),
+    );
+  });
+
   it("flags logging.redactSensitive=off", async () => {
     const cfg: OpenClawConfig = {
       logging: { redactSensitive: "off" },
diff --git a/src/security/audit.ts b/src/security/audit.ts
index e983301e6..3f28398be 100644
--- a/src/security/audit.ts
+++ b/src/security/audit.ts
@@ -320,6 +320,18 @@ function collectGatewayConfigFindings(
     });
   }
 
+  const deviceAutoApprove = cfg.gateway?.devices?.autoApprove ?? "none";
+  if (deviceAutoApprove === "tailscale") {
+    findings.push({
+      checkId: "gateway.devices.auto_approve_tailscale",
+      severity: "info",
+      title: "Device auto-approve via Tailscale enabled",
+      detail:
+        'gateway.devices.autoApprove="tailscale" auto-approves device pairing for Tailscale-authenticated connections. ' +
+        'Safe for personal tailnets; for shared/corporate tailnets, consider keeping autoApprove="none".',
+    });
+  }
+
   if (cfg.gateway?.controlUi?.allowInsecureAuth === true) {
     findings.push({
       checkId: "gateway.control_ui.insecure_auth",