diff --git a/src/gateway/server-http.ts b/src/gateway/server-http.ts
index 52cc6d09c..0cfb1e540 100644
--- a/src/gateway/server-http.ts
+++ b/src/gateway/server-http.ts
@@ -29,6 +29,7 @@ import {
 import { applyHookMappings } from "./hooks-mapping.js";
 import { handleOpenAiHttpRequest } from "./openai-http.js";
 import { handleOpenResponsesHttpRequest } from "./openresponses-http.js";
+import { handleToolsInvokeHttpRequest } from "./tools-invoke-http.js";
 
 type SubsystemLogger = ReturnType<typeof createSubsystemLogger>;
 
@@ -229,6 +230,7 @@ export function createGatewayHttpServer(opts: {
       if (await handleHooksRequest(req, res)) return;
       if (await handleSlackHttpRequest(req, res)) return;
       if (handlePluginRequest && (await handlePluginRequest(req, res))) return;
+      if (await handleToolsInvokeHttpRequest(req, res, { auth: resolvedAuth })) return;
       if (openResponsesEnabled) {
         if (
           await handleOpenResponsesHttpRequest(req, res, {
diff --git a/src/gateway/tools-invoke-http.test.ts b/src/gateway/tools-invoke-http.test.ts
new file mode 100644
index 000000000..9826443b6
--- /dev/null
+++ b/src/gateway/tools-invoke-http.test.ts
@@ -0,0 +1,97 @@
+import { describe, expect, it } from "vitest";
+
+import { installGatewayTestHooks, getFreePort } from "./test-helpers.server.js";
+import { startGatewayServer } from "./server.js";
+import { testState } from "./test-helpers.mocks.js";
+
+installGatewayTestHooks({ scope: "suite" });
+
+describe("POST /tools/invoke", () => {
+  it("invokes a tool and returns {ok:true,result}", async () => {
+    testState.gatewayAuth = { mode: "none" } as any;
+
+    // Allow the sessions_list tool for main agent.
+    testState.agentsConfig = {
+      list: [
+        {
+          id: "main",
+          tools: {
+            allow: ["sessions_list"],
+          },
+        },
+      ],
+    } as any;
+
+    const port = await getFreePort();
+    const server = await startGatewayServer(port, {
+      bind: "loopback",
+    });
+
+    const res = await fetch(`http://127.0.0.1:${port}/tools/invoke`, {
+      method: "POST",
+      headers: { "content-type": "application/json" },
+      body: JSON.stringify({ tool: "sessions_list", action: "json", args: {}, sessionKey: "main" }),
+    });
+
+    expect(res.status).toBe(200);
+    const body = await res.json();
+    expect(body.ok).toBe(true);
+    expect(body).toHaveProperty("result");
+
+    await server.close();
+  });
+
+  it("rejects unauthorized when auth mode is token and header is missing", async () => {
+    testState.gatewayAuth = { mode: "token", token: "t" } as any;
+    testState.agentsConfig = {
+      list: [
+        {
+          id: "main",
+          tools: {
+            allow: ["sessions_list"],
+          },
+        },
+      ],
+    } as any;
+
+    const port = await getFreePort();
+    const server = await startGatewayServer(port, { bind: "loopback" });
+
+    const res = await fetch(`http://127.0.0.1:${port}/tools/invoke`, {
+      method: "POST",
+      headers: { "content-type": "application/json" },
+      body: JSON.stringify({ tool: "sessions_list", action: "json", args: {}, sessionKey: "main" }),
+    });
+
+    expect(res.status).toBe(401);
+
+    await server.close();
+  });
+
+  it("returns 404 when tool is not allowlisted", async () => {
+    testState.gatewayAuth = { mode: "none" } as any;
+    testState.agentsConfig = {
+      list: [
+        {
+          id: "main",
+          tools: {
+            deny: ["sessions_list"],
+          },
+        },
+      ],
+    } as any;
+
+    const port = await getFreePort();
+    const server = await startGatewayServer(port, { bind: "loopback" });
+
+    const res = await fetch(`http://127.0.0.1:${port}/tools/invoke`, {
+      method: "POST",
+      headers: { "content-type": "application/json" },
+      body: JSON.stringify({ tool: "sessions_list", action: "json", args: {}, sessionKey: "main" }),
+    });
+
+    expect(res.status).toBe(404);
+
+    await server.close();
+  });
+});
diff --git a/src/gateway/tools-invoke-http.ts b/src/gateway/tools-invoke-http.ts
new file mode 100644
index 000000000..cdab0406f
--- /dev/null
+++ b/src/gateway/tools-invoke-http.ts
@@ -0,0 +1,163 @@
+import type { IncomingMessage, ServerResponse } from "node:http";
+
+import { loadConfig } from "../config/config.js";
+import { resolveAgentIdFromSessionKey } from "../agents/agent-scope.js";
+import { createClawdbotTools } from "../agents/clawdbot-tools.js";
+import {
+  resolveEffectiveToolPolicy,
+  resolveGroupToolPolicy,
+  isToolAllowedByPolicies,
+} from "../agents/pi-tools.policy.js";
+import { normalizeMessageChannel } from "../utils/message-channel.js";
+
+import { authorizeGatewayConnect, type ResolvedGatewayAuth } from "./auth.js";
+import { getBearerToken, getHeader } from "./http-utils.js";
+import {
+  readJsonBodyOrError,
+  sendInvalidRequest,
+  sendJson,
+  sendMethodNotAllowed,
+  sendUnauthorized,
+} from "./http-common.js";
+
+const DEFAULT_BODY_BYTES = 2 * 1024 * 1024;
+
+type ToolsInvokeBody = {
+  tool?: unknown;
+  action?: unknown;
+  args?: unknown;
+  sessionKey?: unknown;
+  dryRun?: unknown;
+};
+
+function resolveSessionKeyFromBody(body: ToolsInvokeBody): string | undefined {
+  if (typeof body.sessionKey === "string" && body.sessionKey.trim()) return body.sessionKey.trim();
+  return undefined;
+}
+
+function mergeActionIntoArgsIfSupported(params: {
+  toolSchema: unknown;
+  action: string | undefined;
+  args: Record<string, unknown>;
+}): Record<string, unknown> {
+  const { toolSchema, action, args } = params;
+  if (!action) return args;
+  if (args.action !== undefined) return args;
+  // TypeBox schemas are plain objects; many tools define an `action` property.
+  const schemaObj = toolSchema as { properties?: Record<string, unknown> } | null;
+  const hasAction = Boolean(
+    schemaObj &&
+    typeof schemaObj === "object" &&
+    schemaObj.properties &&
+    "action" in schemaObj.properties,
+  );
+  if (!hasAction) return args;
+  return { ...args, action };
+}
+
+export async function handleToolsInvokeHttpRequest(
+  req: IncomingMessage,
+  res: ServerResponse,
+  opts: { auth: ResolvedGatewayAuth; maxBodyBytes?: number },
+): Promise<boolean> {
+  const url = new URL(req.url ?? "/", `http://${req.headers.host ?? "localhost"}`);
+  if (url.pathname !== "/tools/invoke") return false;
+
+  if (req.method !== "POST") {
+    sendMethodNotAllowed(res, "POST");
+    return true;
+  }
+
+  const token = getBearerToken(req);
+  const authResult = await authorizeGatewayConnect({
+    auth: opts.auth,
+    connectAuth: token ? { token } : null,
+    req,
+  });
+  if (!authResult.ok) {
+    sendUnauthorized(res);
+    return true;
+  }
+
+  const bodyUnknown = await readJsonBodyOrError(req, res, opts.maxBodyBytes ?? DEFAULT_BODY_BYTES);
+  if (bodyUnknown === undefined) return true;
+  const body = (bodyUnknown ?? {}) as ToolsInvokeBody;
+
+  const toolName = typeof body.tool === "string" ? body.tool.trim() : "";
+  if (!toolName) {
+    sendInvalidRequest(res, "tools.invoke requires body.tool");
+    return true;
+  }
+
+  const action = typeof body.action === "string" ? body.action.trim() : undefined;
+
+  const argsRaw = body.args;
+  const args = (
+    argsRaw && typeof argsRaw === "object" && !Array.isArray(argsRaw)
+      ? (argsRaw as Record<string, unknown>)
+      : {}
+  ) as Record<string, unknown>;
+
+  const sessionKey = resolveSessionKeyFromBody(body) ?? "main";
+  const cfg = loadConfig();
+  const agentId = resolveAgentIdFromSessionKey(sessionKey);
+
+  // Resolve message channel/account hints (optional headers) for policy inheritance.
+  const messageChannel = normalizeMessageChannel(
+    getHeader(req, "x-clawdbot-message-channel") ?? "",
+  );
+  const accountId = getHeader(req, "x-clawdbot-account-id")?.trim() || undefined;
+
+  // Build tool list (core + plugin tools).
+  const allTools = createClawdbotTools({
+    agentSessionKey: sessionKey,
+    agentChannel: messageChannel ?? undefined,
+    agentAccountId: accountId,
+    config: cfg,
+  });
+
+  const policy = resolveEffectiveToolPolicy({ config: cfg, sessionKey });
+  const groupPolicy = resolveGroupToolPolicy({
+    config: cfg,
+    sessionKey,
+    messageProvider: messageChannel ?? undefined,
+    accountId: accountId ?? null,
+  });
+
+  const allowed = (name: string) =>
+    isToolAllowedByPolicies(name, [
+      policy.globalPolicy,
+      policy.agentPolicy,
+      policy.globalProviderPolicy,
+      policy.agentProviderPolicy,
+      groupPolicy,
+    ]);
+
+  const tools = (allTools as any[]).filter((t) => allowed(t.name));
+
+  const tool = tools.find((t) => t.name === toolName);
+  if (!tool) {
+    sendJson(res, 404, {
+      ok: false,
+      error: { type: "not_found", message: `Tool not available: ${toolName}` },
+    });
+    return true;
+  }
+
+  try {
+    const toolArgs = mergeActionIntoArgsIfSupported({
+      toolSchema: (tool as any).parameters,
+      action,
+      args,
+    });
+    const result = await (tool as any).execute?.(`http-${Date.now()}`, toolArgs);
+    sendJson(res, 200, { ok: true, result });
+  } catch (err) {
+    sendJson(res, 400, {
+      ok: false,
+      error: { type: "tool_error", message: err instanceof Error ? err.message : String(err) },
+    });
+  }
+
+  return true;
+}