diff --git a/src/consumer/__tests__/emptyAssignment.spec.js b/src/consumer/__tests__/emptyAssignment.spec.js
index ea20f3cb8..77b3c6724 100644
--- a/src/consumer/__tests__/emptyAssignment.spec.js
+++ b/src/consumer/__tests__/emptyAssignment.spec.js
@@ -8,6 +8,7 @@ const {
   createTopic,
   newLogger,
   waitForConsumerToJoinGroup,
+  waitForNextEvent,
 } = require('testHelpers')
 
 describe('Consumer', () => {
@@ -25,7 +26,7 @@ describe('Consumer', () => {
     consumer2 && (await consumer2.disconnect())
   })
 
-  test('can join the group without receiving any assignment', async () => {
+  test('remains in the group without receiving any assignment', async () => {
     // Assigns all topic-partitions to the first member.
     const UnbalancedAssigner = ({ cluster }) => ({
       name: 'UnbalancedAssigner',
@@ -89,9 +90,23 @@ describe('Consumer', () => {
     consumer2.run({ eachMessage: () => {} })
 
     // Ensure that both consumers manage to join
-    await Promise.all([
+    const groupJoinEvents = await Promise.all([
       waitForConsumerToJoinGroup(consumer1),
       waitForConsumerToJoinGroup(consumer2),
     ])
+
+    const emptyAssignments = groupJoinEvents.filter(
+      ({ payload }) => Object.entries(payload.memberAssignment).length === 0
+    )
+    expect(emptyAssignments).toHaveLength(1)
+
+    await Promise.all(
+      [consumer1, consumer2].map(consumer => waitForNextEvent(consumer, consumer.events.FETCH))
+    )
+
+    // Both consumers should continue to heartbeat even without receiving any assignments
+    await Promise.all(
+      [consumer1, consumer2].map(consumer => waitForNextEvent(consumer, consumer.events.HEARTBEAT))
+    )
   })
 })
diff --git a/src/consumer/runner.js b/src/consumer/runner.js
index 64582811b..686549cc5 100644
--- a/src/consumer/runner.js
+++ b/src/consumer/runner.js
@@ -314,6 +314,10 @@ module.exports = class Runner extends EventEmitter {
       nodeId,
     })
 
+    if (batches.length === 0) {
+      await this.heartbeat()
+    }
+
     return batches
   }