diff --git a/src/openclaw/__tests__/terminal-probe-sanitization.test.ts b/src/openclaw/__tests__/terminal-probe-sanitization.test.ts
new file mode 100644
index 000000000..75ca0df29
--- /dev/null
+++ b/src/openclaw/__tests__/terminal-probe-sanitization.test.ts
@@ -0,0 +1,135 @@
+import { describe, expect, test } from "bun:test"
+import { stripTerminalProbes } from "../tmux"
+import { sanitizeReplyInput } from "../reply-listener"
+
+describe("terminal probe text sanitization", () => {
+  describe("stripTerminalProbes", () => {
+    test("should strip CSI device attributes reply (DA)", () => {
+      // given — DA reply: ESC[?64;1;2;6;22c
+      const text = "normal text\x1b[?64;1;2;6;22c more text"
+
+      // when
+      const result = stripTerminalProbes(text)
+
+      // then
+      expect(result).toBe("normal text more text")
+    })
+
+    test("should strip CSI cursor position reply (CPR)", () => {
+      // given — CPR reply: ESC[24;80R
+      const text = "hello\x1b[24;80R world"
+
+      // when
+      const result = stripTerminalProbes(text)
+
+      // then
+      expect(result).toBe("hello world")
+    })
+
+    test("should strip OSC color query reply", () => {
+      // given — OSC 4 color reply with BEL terminator
+      const text = "before\x1b]4;0;rgb:0000/0000/0000\x07after"
+
+      // when
+      const result = stripTerminalProbes(text)
+
+      // then
+      expect(result).toBe("beforeafter")
+    })
+
+    test("should strip OSC color query reply with ST terminator", () => {
+      // given — OSC 10 foreground color reply with ST (ESC\)
+      const text = "before\x1b]10;rgb:ffff/ffff/ffff\x1b\\after"
+
+      // when
+      const result = stripTerminalProbes(text)
+
+      // then
+      expect(result).toBe("beforeafter")
+    })
+
+    test("should strip SGR color/formatting sequences", () => {
+      // given — typical colored output
+      const text = "\x1b[32m✓\x1b[0m test passed"
+
+      // when
+      const result = stripTerminalProbes(text)
+
+      // then
+      expect(result).toBe("✓ test passed")
+    })
+
+    test("should strip multiple mixed probe sequences", () => {
+      // given — multiple probe replies in one capture
+      const text = "\x1b[?64;1;2c\x1b]4;0;rgb:0000/0000/0000\x07\x1b[24;80Rnormal output"
+
+      // when
+      const result = stripTerminalProbes(text)
+
+      // then
+      expect(result).toBe("normal output")
+    })
+
+    test("should strip control characters but preserve newlines and tabs", () => {
+      // given
+      const text = "line1\nline2\t\x03indented\x08backspace"
+
+      // when
+      const result = stripTerminalProbes(text)
+
+      // then
+      expect(result).toBe("line1\nline2\tindentedbackspace")
+    })
+
+    test("should pass through clean text unchanged", () => {
+      // given
+      const text = "opencode\nAsk anything...\nRun /help"
+
+      // when
+      const result = stripTerminalProbes(text)
+
+      // then
+      expect(result).toBe("opencode\nAsk anything...\nRun /help")
+    })
+
+    test("should handle the exact bug report pattern (hex-like probe residue)", () => {
+      // given — the pattern from issue #2887:
+      // "414/21212a2/6969717/98989f9f/b3b3f2f2/f2f2414/2121"
+      // This is what remains after partial escape sequence processing.
+      // The actual raw bytes would include ESC sequences that produce this residue.
+      // After stripping ESC sequences, only the residue digits/letters remain.
+      // The key fix is preventing the ESC sequences from being captured in the first place.
+      const rawWithEsc = "\x1b[?64;1;2c414/21212a2\x1b[?6n"
+
+      // when
+      const result = stripTerminalProbes(rawWithEsc)
+
+      // then — ESC sequences stripped, residue text remains but is harmless
+      expect(result).toBe("414/21212a2")
+    })
+  })
+
+  describe("sanitizeReplyInput handles escape sequences", () => {
+    test("should strip ANSI escape sequences from reply input", () => {
+      // given
+      const text = "reply text\x1b[?64;1;2c with probe"
+
+      // when
+      const result = sanitizeReplyInput(text)
+
+      // then — escape sequence stripped, newlines collapsed to spaces
+      expect(result).toBe("reply text with probe")
+    })
+
+    test("should strip OSC sequences from reply input", () => {
+      // given
+      const text = "before\x1b]4;0;rgb:0000/0000/0000\x07after"
+
+      // when
+      const result = sanitizeReplyInput(text)
+
+      // then
+      expect(result).toBe("beforeafter")
+    })
+  })
+})
diff --git a/src/openclaw/reply-listener.ts b/src/openclaw/reply-listener.ts
index f6c8e015b..1ae1d491a 100644
--- a/src/openclaw/reply-listener.ts
+++ b/src/openclaw/reply-listener.ts
@@ -225,6 +225,15 @@ export async function isDaemonRunning(): Promise<boolean> {
 // Input Sanitization
 export function sanitizeReplyInput(text: string): string {
   return text
+    // Strip ANSI/CSI escape sequences (colors, cursor, device attributes, etc.)
+    .replace(/\x1b\[[0-9;?]*[a-zA-Z]/g, "")
+    // Strip OSC sequences (terminal color queries, title sets, etc.)
+    .replace(/\x1b\][^\x07\x1b]*(?:\x07|\x1b\\)/g, "")
+    // Strip DCS sequences
+    .replace(/\x1bP[^\x1b]*\x1b\\/g, "")
+    // Strip remaining bare ESC sequences
+    .replace(/\x1b[^\[\]P]/g, "")
+    // Strip basic control characters
     .replace(/[\x00-\x08\x0b\x0c\x0e-\x1f\x7f]/g, "")
     .replace(/[\u200e\u200f\u202a-\u202e\u2066-\u2069]/g, "")
     .replace(/\r?\n/g, " ")
diff --git a/src/openclaw/tmux.ts b/src/openclaw/tmux.ts
index 6b575e662..c04a9fbe5 100644
--- a/src/openclaw/tmux.ts
+++ b/src/openclaw/tmux.ts
@@ -25,6 +25,25 @@ export async function getTmuxSessionName(): Promise<string | null> {
   }
 }
 
+/**
+ * Strip terminal probe/control sequences from captured pane text.
+ * Tmux capture-pane can include ANSI CSI, OSC, and DCS sequences
+ * from terminal capability probes during pane startup.
+ */
+export function stripTerminalProbes(text: string): string {
+  return text
+    // CSI sequences: ESC [ ... <letter> (device attributes, cursor position, etc.)
+    .replace(/\x1b\[[0-9;?]*[a-zA-Z]/g, "")
+    // OSC sequences: ESC ] ... (BEL or ST) (color queries, window title, etc.)
+    .replace(/\x1b\][^\x07\x1b]*(?:\x07|\x1b\\)/g, "")
+    // DCS sequences: ESC P ... ST
+    .replace(/\x1bP[^\x1b]*\x1b\\/g, "")
+    // Remaining bare ESC sequences
+    .replace(/\x1b[^\[\]P]/g, "")
+    // Bare control characters (except newline/tab)
+    .replace(/[\x00-\x08\x0b\x0c\x0e-\x1f\x7f]/g, "")
+}
+
 export async function captureTmuxPane(paneId: string, lines = 15): Promise<string | null> {
   try {
     const proc = spawn(
@@ -38,7 +57,8 @@ export async function captureTmuxPane(paneId: string, lines = 15): Promise<strin
     await proc.exited
     const output = await outputPromise
     if (proc.exitCode !== 0) return null
-    return output.trim() || null
+    const cleaned = stripTerminalProbes(output).trim()
+    return cleaned || null
   } catch {
     return null
   }