diff --git a/selfdrive/ui/onroad/cameraview.py b/selfdrive/ui/onroad/cameraview.py
index ca031e2f17..c8ee9b140c 100644
--- a/selfdrive/ui/onroad/cameraview.py
+++ b/selfdrive/ui/onroad/cameraview.py
@@ -8,6 +8,7 @@ from openpilot.system.hardware import TICI
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.system.ui.lib.egl import init_egl, create_egl_image, destroy_egl_image, bind_egl_image_to_texture, EGLImage
 from openpilot.system.ui.widgets import Widget
+from openpilot.selfdrive.ui.ui_state import ui_state
 
 CONNECTION_RETRY_INTERVAL = 0.2  # seconds between connection attempts
 
@@ -103,6 +104,18 @@ class CameraView(Widget):
       self.egl_texture = rl.load_texture_from_image(temp_image)
       rl.unload_image(temp_image)
 
+    ui_state.add_offroad_transition_callback(self._offroad_transition)
+
+  def _offroad_transition(self):
+    if ui_state.is_onroad():
+      # Prevent old frames from showing when going onroad. Qt has a separate thread
+      # which drains the VisionIpcClient SubSocket for us. Re-connecting is not enough
+      # and only clears internal buffers, not the message queue.
+      self.frame = None
+      if self.client:
+        del self.client
+      self.client = VisionIpcClient(self._name, self._stream_type, conflate=True)
+
   def _set_placeholder_color(self, color: rl.Color):
     """Set a placeholder color to be drawn when no frame is available."""
     self._placeholder_color = color