diff --git a/pkg/mcp/manager.go b/pkg/mcp/manager.go
index e28388827..92ea426a6 100644
--- a/pkg/mcp/manager.go
+++ b/pkg/mcp/manager.go
@@ -117,10 +117,12 @@ func loadEnvFile(path string) (map[string]string, error) {
 
 // ServerConnection represents a connection to an MCP server
 type ServerConnection struct {
-	Name    string
-	Client  *mcp.Client
-	Session *mcp.ClientSession
-	Tools   []*mcp.Tool
+	Name        string
+	Config      config.MCPServerConfig
+	Client      *mcp.Client
+	Session     *mcp.ClientSession
+	Tools       []*mcp.Tool
+	reconnectMu sync.Mutex
 }
 
 // Manager manages multiple MCP server connections
@@ -131,6 +133,8 @@ type Manager struct {
 	wg      sync.WaitGroup // tracks in-flight CallTool calls
 }
 
+var connectServerFunc = connectServer
+
 // NewManager creates a new MCP manager
 func NewManager() *Manager {
 	return &Manager{
@@ -260,6 +264,28 @@ func (m *Manager) ConnectServer(
 	name string,
 	cfg config.MCPServerConfig,
 ) error {
+	conn, err := connectServerFunc(ctx, name, cfg)
+	if err != nil {
+		return err
+	}
+
+	m.mu.Lock()
+	defer m.mu.Unlock()
+
+	if m.closed.Load() {
+		_ = conn.Session.Close()
+		return fmt.Errorf("manager is closed")
+	}
+
+	m.servers[name] = conn
+	return nil
+}
+
+func connectServer(
+	ctx context.Context,
+	name string,
+	cfg config.MCPServerConfig,
+) (*ServerConnection, error) {
 	logger.InfoCF("mcp", "Connecting to MCP server",
 		map[string]any{
 			"server":     name,
@@ -285,14 +311,14 @@ func (m *Manager) ConnectServer(
 		} else if cfg.Command != "" {
 			transportType = "stdio"
 		} else {
-			return fmt.Errorf("either URL or command must be provided")
+			return nil, fmt.Errorf("either URL or command must be provided")
 		}
 	}
 
 	switch transportType {
 	case "sse", "http":
 		if cfg.URL == "" {
-			return fmt.Errorf("URL is required for SSE/HTTP transport")
+			return nil, fmt.Errorf("URL is required for SSE/HTTP transport")
 		}
 
 		// Configure DisableStandaloneSSE based on transport type.
@@ -334,7 +360,7 @@ func (m *Manager) ConnectServer(
 		transport = sseTransport
 	case "stdio":
 		if cfg.Command == "" {
-			return fmt.Errorf("command is required for stdio transport")
+			return nil, fmt.Errorf("command is required for stdio transport")
 		}
 		logger.DebugCF("mcp", "Using stdio transport",
 			map[string]any{
@@ -359,7 +385,7 @@ func (m *Manager) ConnectServer(
 		if cfg.EnvFile != "" {
 			envVars, err := loadEnvFile(cfg.EnvFile)
 			if err != nil {
-				return fmt.Errorf("failed to load env file %s: %w", cfg.EnvFile, err)
+				return nil, fmt.Errorf("failed to load env file %s: %w", cfg.EnvFile, err)
 			}
 			for k, v := range envVars {
 				envMap[k] = v
@@ -385,7 +411,7 @@ func (m *Manager) ConnectServer(
 		cmd.Env = env
 		transport = &isolatedCommandTransport{Command: cmd}
 	default:
-		return fmt.Errorf(
+		return nil, fmt.Errorf(
 			"unsupported transport type: %s (supported: stdio, sse, http)",
 			transportType,
 		)
@@ -394,7 +420,7 @@ func (m *Manager) ConnectServer(
 	// Connect to server
 	session, err := client.Connect(ctx, transport, nil)
 	if err != nil {
-		return fmt.Errorf("failed to connect: %w", err)
+		return nil, fmt.Errorf("failed to connect: %w", err)
 	}
 
 	// Get server info
@@ -408,38 +434,19 @@ func (m *Manager) ConnectServer(
 		})
 
 	// List available tools if supported
-	var tools []*mcp.Tool
-	if initResult.Capabilities.Tools != nil {
-		for tool, err := range session.Tools(ctx, nil) {
-			if err != nil {
-				logger.WarnCF("mcp", "Error listing tool",
-					map[string]any{
-						"server": name,
-						"error":  err.Error(),
-					})
-				continue
-			}
-			tools = append(tools, tool)
-		}
-
-		logger.InfoCF("mcp", "Listed tools from MCP server",
-			map[string]any{
-				"server":    name,
-				"toolCount": len(tools),
-			})
+	tools, err := listServerTools(ctx, name, session, initResult)
+	if err != nil {
+		_ = session.Close()
+		return nil, err
 	}
 
-	// Store connection
-	m.mu.Lock()
-	m.servers[name] = &ServerConnection{
+	return &ServerConnection{
 		Name:    name,
+		Config:  cfg,
 		Client:  client,
 		Session: session,
 		Tools:   tools,
-	}
-	m.mu.Unlock()
-
-	return nil
+	}, nil
 }
 
 // GetServers returns all connected servers
@@ -498,12 +505,131 @@ func (m *Manager) CallTool(
 
 	result, err := conn.Session.CallTool(ctx, params)
 	if err != nil {
+		if shouldReconnectCallError(err) {
+			logger.WarnCF("mcp", "MCP server session was lost during tool call, reconnecting",
+				map[string]any{
+					"server": serverName,
+					"tool":   toolName,
+					"error":  err.Error(),
+				})
+
+			reconnectedConn, reconnectErr := m.reconnectServer(ctx, serverName, conn)
+			if reconnectErr != nil {
+				return nil, fmt.Errorf("failed to recover lost MCP session: %w", reconnectErr)
+			}
+
+			result, err = reconnectedConn.Session.CallTool(ctx, params)
+			if err == nil {
+				return result, nil
+			}
+		}
+
 		return nil, fmt.Errorf("failed to call tool: %w", err)
 	}
 
 	return result, nil
 }
 
+func listServerTools(
+	ctx context.Context,
+	name string,
+	session *mcp.ClientSession,
+	initResult *mcp.InitializeResult,
+) ([]*mcp.Tool, error) {
+	var tools []*mcp.Tool
+	if initResult.Capabilities.Tools == nil {
+		return tools, nil
+	}
+
+	for tool, err := range session.Tools(ctx, nil) {
+		if err != nil {
+			logger.WarnCF("mcp", "Error listing tool",
+				map[string]any{
+					"server": name,
+					"error":  err.Error(),
+				})
+			continue
+		}
+		tools = append(tools, tool)
+	}
+
+	logger.InfoCF("mcp", "Listed tools from MCP server",
+		map[string]any{
+			"server":    name,
+			"toolCount": len(tools),
+		})
+
+	return tools, nil
+}
+
+func shouldReconnectCallError(err error) bool {
+	if err == nil {
+		return false
+	}
+	if errors.Is(err, mcp.ErrSessionMissing) {
+		return true
+	}
+	return strings.Contains(strings.ToLower(err.Error()), mcp.ErrSessionMissing.Error())
+}
+
+func (m *Manager) reconnectServer(
+	ctx context.Context,
+	serverName string,
+	staleConn *ServerConnection,
+) (*ServerConnection, error) {
+	if staleConn == nil {
+		return nil, fmt.Errorf("server %s not found", serverName)
+	}
+
+	staleConn.reconnectMu.Lock()
+	defer staleConn.reconnectMu.Unlock()
+
+	if m.closed.Load() {
+		return nil, fmt.Errorf("manager is closed")
+	}
+
+	m.mu.RLock()
+	currentConn, ok := m.servers[serverName]
+	m.mu.RUnlock()
+	if !ok {
+		return nil, fmt.Errorf("server %s not found", serverName)
+	}
+	if currentConn != staleConn {
+		return currentConn, nil
+	}
+
+	freshConn, err := connectServerFunc(ctx, serverName, staleConn.Config)
+	if err != nil {
+		return nil, err
+	}
+
+	m.mu.Lock()
+	if m.closed.Load() {
+		m.mu.Unlock()
+		_ = freshConn.Session.Close()
+		return nil, fmt.Errorf("manager is closed")
+	}
+
+	currentConn, ok = m.servers[serverName]
+	if !ok {
+		m.mu.Unlock()
+		_ = freshConn.Session.Close()
+		return nil, fmt.Errorf("server %s not found", serverName)
+	}
+
+	if currentConn == staleConn {
+		m.servers[serverName] = freshConn
+		staleToClose := staleConn
+		m.mu.Unlock()
+		_ = staleToClose.Session.Close()
+		return freshConn, nil
+	}
+
+	m.mu.Unlock()
+	_ = freshConn.Session.Close()
+	return currentConn, nil
+}
+
 // Close closes all server connections
 func (m *Manager) Close() error {
 	// Use Swap to atomically set closed=true and get the previous value
diff --git a/pkg/mcp/manager_test.go b/pkg/mcp/manager_test.go
index fff315655..682d4c346 100644
--- a/pkg/mcp/manager_test.go
+++ b/pkg/mcp/manager_test.go
@@ -2,11 +2,16 @@ package mcp
 
 import (
 	"context"
+	"encoding/json"
+	"fmt"
+	"io"
 	"os"
 	"path/filepath"
 	"strings"
+	"sync"
 	"testing"
 
+	"github.com/modelcontextprotocol/go-sdk/jsonrpc"
 	sdkmcp "github.com/modelcontextprotocol/go-sdk/mcp"
 
 	"github.com/sipeed/picoclaw/pkg/config"
@@ -312,6 +317,81 @@ func TestCallTool_ErrorsForClosedOrMissingServer(t *testing.T) {
 	})
 }
 
+func TestCallTool_ReconnectsWhenHTTPServerLosesSession(t *testing.T) {
+	originalConnectServerFunc := connectServerFunc
+	t.Cleanup(func() {
+		connectServerFunc = originalConnectServerFunc
+	})
+
+	staleConn, staleTransport, err := newScriptedServerConnection(
+		"session-1",
+		nil,
+		fmt.Errorf(`sending "tools/call": failed to connect (session ID: session-1): %w`, sdkmcp.ErrSessionMissing),
+	)
+	if err != nil {
+		t.Fatalf("newScriptedServerConnection(stale) error = %v", err)
+	}
+	freshConn, freshTransport, err := newScriptedServerConnection(
+		"session-2",
+		&sdkmcp.CallToolResult{
+			Content: []sdkmcp.Content{
+				&sdkmcp.TextContent{Text: "reconnected"},
+			},
+		},
+		nil,
+	)
+	if err != nil {
+		t.Fatalf("newScriptedServerConnection(fresh) error = %v", err)
+	}
+
+	connectCalls := 0
+	connectServerFunc = func(ctx context.Context, name string, cfg config.MCPServerConfig) (*ServerConnection, error) {
+		connectCalls++
+		if connectCalls == 1 {
+			return freshConn, nil
+		}
+		return nil, fmt.Errorf("unexpected reconnect attempt %d", connectCalls)
+	}
+
+	mgr := NewManager()
+	mgr.servers["flaky"] = staleConn
+
+	result, err := mgr.CallTool(context.Background(), "flaky", "echo", map[string]any{
+		"query": "hello",
+	})
+	if err != nil {
+		t.Fatalf("CallTool() error = %v", err)
+	}
+	if result == nil || len(result.Content) != 1 {
+		t.Fatalf("CallTool() returned unexpected content: %#v", result)
+	}
+
+	text, ok := result.Content[0].(*sdkmcp.TextContent)
+	if !ok {
+		t.Fatalf("CallTool() content type = %T, want *sdkmcp.TextContent", result.Content[0])
+	}
+	if text.Text != "reconnected" {
+		t.Fatalf("CallTool() text = %q, want %q", text.Text, "reconnected")
+	}
+
+	conn, ok := mgr.GetServer("flaky")
+	if !ok {
+		t.Fatal("expected flaky server to remain connected after reconnect")
+	}
+	if conn.Session.ID() != "session-2" {
+		t.Fatalf("Session.ID() = %q, want %q", conn.Session.ID(), "session-2")
+	}
+	if connectCalls != 1 {
+		t.Fatalf("connectCalls = %d, want 1", connectCalls)
+	}
+	if staleTransport.toolCallCalls != 1 {
+		t.Fatalf("stale toolCallCalls = %d, want 1", staleTransport.toolCallCalls)
+	}
+	if freshTransport.toolCallCalls != 1 {
+		t.Fatalf("fresh toolCallCalls = %d, want 1", freshTransport.toolCallCalls)
+	}
+}
+
 func TestClose_IdempotentOnEmptyManager(t *testing.T) {
 	mgr := NewManager()
 
@@ -322,3 +402,138 @@ func TestClose_IdempotentOnEmptyManager(t *testing.T) {
 		t.Fatalf("second close should be idempotent, got: %v", err)
 	}
 }
+
+func newScriptedServerConnection(
+	sessionID string,
+	toolCallResult *sdkmcp.CallToolResult,
+	toolCallErr error,
+) (*ServerConnection, *scriptedTransport, error) {
+	transport := &scriptedTransport{
+		sessionID:      sessionID,
+		toolCallResult: toolCallResult,
+		toolCallErr:    toolCallErr,
+	}
+
+	client := sdkmcp.NewClient(&sdkmcp.Implementation{
+		Name:    "picoclaw-test",
+		Version: "1.0.0",
+	}, nil)
+	session, err := client.Connect(context.Background(), transport, nil)
+	if err != nil {
+		return nil, nil, err
+	}
+
+	return &ServerConnection{
+		Name:    "flaky",
+		Config:  config.MCPServerConfig{Enabled: true, Type: "http", URL: "https://example.invalid/mcp"},
+		Client:  client,
+		Session: session,
+		Tools: []*sdkmcp.Tool{
+			{
+				Name:        "echo",
+				Description: "Echo test tool",
+				InputSchema: map[string]any{"type": "object"},
+			},
+		},
+	}, transport, nil
+}
+
+type scriptedTransport struct {
+	sessionID      string
+	toolCallResult *sdkmcp.CallToolResult
+	toolCallErr    error
+
+	mu            sync.Mutex
+	toolCallCalls int
+	closed        bool
+	incoming      chan jsonrpc.Message
+}
+
+func (t *scriptedTransport) Connect(context.Context) (sdkmcp.Connection, error) {
+	if t.incoming == nil {
+		t.incoming = make(chan jsonrpc.Message, 4)
+	}
+	return t, nil
+}
+
+func (t *scriptedTransport) Read(ctx context.Context) (jsonrpc.Message, error) {
+	select {
+	case <-ctx.Done():
+		return nil, ctx.Err()
+	case msg, ok := <-t.incoming:
+		if !ok {
+			return nil, io.EOF
+		}
+		return msg, nil
+	}
+}
+
+func (t *scriptedTransport) Write(ctx context.Context, msg jsonrpc.Message) error {
+	req, ok := msg.(*jsonrpc.Request)
+	if !ok {
+		return nil
+	}
+
+	switch req.Method {
+	case "initialize":
+		payload, err := json.Marshal(&sdkmcp.InitializeResult{
+			ProtocolVersion: "2025-11-25",
+			ServerInfo: &sdkmcp.Implementation{
+				Name:    "scripted-test-server",
+				Version: "1.0.0",
+			},
+			Capabilities: &sdkmcp.ServerCapabilities{
+				Tools: &sdkmcp.ToolCapabilities{},
+			},
+		})
+		if err != nil {
+			return err
+		}
+		select {
+		case <-ctx.Done():
+			return ctx.Err()
+		case t.incoming <- &jsonrpc.Response{ID: req.ID, Result: payload}:
+			return nil
+		}
+
+	case "notifications/initialized":
+		return nil
+
+	case "tools/call":
+		t.mu.Lock()
+		t.toolCallCalls++
+		t.mu.Unlock()
+
+		if t.toolCallErr != nil {
+			return t.toolCallErr
+		}
+
+		payload, err := json.Marshal(t.toolCallResult)
+		if err != nil {
+			return err
+		}
+		select {
+		case <-ctx.Done():
+			return ctx.Err()
+		case t.incoming <- &jsonrpc.Response{ID: req.ID, Result: payload}:
+			return nil
+		}
+	}
+
+	return fmt.Errorf("unexpected method %q", req.Method)
+}
+
+func (t *scriptedTransport) Close() error {
+	t.mu.Lock()
+	defer t.mu.Unlock()
+	if t.closed {
+		return nil
+	}
+	t.closed = true
+	close(t.incoming)
+	return nil
+}
+
+func (t *scriptedTransport) SessionID() string {
+	return t.sessionID
+}