diff --git a/CHANGELOG.md b/CHANGELOG.md
index 23a5608da..78e8e0f11 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -11,6 +11,9 @@ Docs: https://docs.clawd.bot
 - Plugins: allow optional agent tools with explicit allowlists and add plugin tool authoring guide. https://docs.clawd.bot/plugins/agent-tools
 - Tools: centralize plugin tool policy helpers.
 
+### Fixes
+- Voice call: include request query in Twilio webhook verification when publicUrl is set. (#864)
+
 ## 2026.1.18-1
 
 ### Changes
diff --git a/extensions/voice-call/src/webhook-security.test.ts b/extensions/voice-call/src/webhook-security.test.ts
index 058a760d3..c31d7225a 100644
--- a/extensions/voice-call/src/webhook-security.test.ts
+++ b/extensions/voice-call/src/webhook-security.test.ts
@@ -2,7 +2,7 @@ import crypto from "node:crypto";
 
 import { describe, expect, it } from "vitest";
 
-import { verifyPlivoWebhook } from "./webhook-security.js";
+import { verifyPlivoWebhook, verifyTwilioWebhook } from "./webhook-security.js";
 
 function canonicalizeBase64(input: string): string {
   return Buffer.from(input, "base64").toString("base64");
@@ -71,6 +71,26 @@ function plivoV3Signature(params: {
   return canonicalizeBase64(digest);
 }
 
+function twilioSignature(params: {
+  authToken: string;
+  url: string;
+  postBody: string;
+}): string {
+  let dataToSign = params.url;
+  const sortedParams = Array.from(
+    new URLSearchParams(params.postBody).entries(),
+  ).sort((a, b) => a[0].localeCompare(b[0]));
+
+  for (const [key, value] of sortedParams) {
+    dataToSign += key + value;
+  }
+
+  return crypto
+    .createHmac("sha1", params.authToken)
+    .update(dataToSign)
+    .digest("base64");
+}
+
 describe("verifyPlivoWebhook", () => {
   it("accepts valid V2 signature", () => {
     const authToken = "test-auth-token";
@@ -154,3 +174,35 @@ describe("verifyPlivoWebhook", () => {
   });
 });
 
+describe("verifyTwilioWebhook", () => {
+  it("uses request query when publicUrl omits it", () => {
+    const authToken = "test-auth-token";
+    const publicUrl = "https://example.com/voice/webhook";
+    const urlWithQuery = `${publicUrl}?callId=abc`;
+    const postBody = "CallSid=CS123&CallStatus=completed&From=%2B15550000000";
+
+    const signature = twilioSignature({
+      authToken,
+      url: urlWithQuery,
+      postBody,
+    });
+
+    const result = verifyTwilioWebhook(
+      {
+        headers: {
+          host: "example.com",
+          "x-forwarded-proto": "https",
+          "x-twilio-signature": signature,
+        },
+        rawBody: postBody,
+        url: "http://local/voice/webhook?callId=abc",
+        method: "POST",
+        query: { callId: "abc" },
+      },
+      authToken,
+      { publicUrl },
+    );
+
+    expect(result.ok).toBe(true);
+  });
+});
diff --git a/extensions/voice-call/src/webhook-security.ts b/extensions/voice-call/src/webhook-security.ts
index 0459f3b1e..2471d8841 100644
--- a/extensions/voice-call/src/webhook-security.ts
+++ b/extensions/voice-call/src/webhook-security.ts
@@ -98,6 +98,25 @@ export function reconstructWebhookUrl(ctx: WebhookContext): string {
   return `${proto}://${host}${path}`;
 }
 
+function buildTwilioVerificationUrl(
+  ctx: WebhookContext,
+  publicUrl?: string,
+): string {
+  if (!publicUrl) {
+    return reconstructWebhookUrl(ctx);
+  }
+
+  try {
+    const base = new URL(publicUrl);
+    const requestUrl = new URL(ctx.url);
+    base.pathname = requestUrl.pathname;
+    base.search = requestUrl.search;
+    return base.toString();
+  } catch {
+    return publicUrl;
+  }
+}
+
 /**
  * Get a header value, handling both string and string[] types.
  */
@@ -154,7 +173,7 @@ export function verifyTwilioWebhook(
   }
 
   // Reconstruct the URL Twilio used
-  const verificationUrl = options?.publicUrl || reconstructWebhookUrl(ctx);
+  const verificationUrl = buildTwilioVerificationUrl(ctx, options?.publicUrl);
 
   // Parse the body as URL-encoded params
   const params = new URLSearchParams(ctx.rawBody);