diff --git a/consumer_group.go b/consumer_group.go
index 48af3b42e..02d75089a 100644
--- a/consumer_group.go
+++ b/consumer_group.go
@@ -574,6 +574,10 @@ func (c *consumerGroup) heartbeatRequest(coordinator *Broker, memberID string, g
 	if c.config.Version.IsAtLeast(V2_3_0_0) {
 		req.Version = 3
 		req.GroupInstanceId = c.groupInstanceId
+		// Version 4 is the first flexible version
+		if c.config.Version.IsAtLeast(V2_4_0_0) {
+			req.Version = 4
+		}
 	}
 
 	return coordinator.Heartbeat(req)
diff --git a/heartbeat_request.go b/heartbeat_request.go
index c8b4f02b9..21b99712c 100644
--- a/heartbeat_request.go
+++ b/heartbeat_request.go
@@ -29,6 +29,7 @@ func (r *HeartbeatRequest) encode(pe packetEncoder) error {
 		}
 	}
 
+	pe.putEmptyTaggedFieldArray()
 	return nil
 }
 
@@ -49,7 +50,8 @@ func (r *HeartbeatRequest) decode(pd packetDecoder, version int16) (err error) {
 		}
 	}
 
-	return nil
+	_, err = pd.getEmptyTaggedFieldArray()
+	return err
 }
 
 func (r *HeartbeatRequest) key() int16 {
@@ -61,15 +63,28 @@ func (r *HeartbeatRequest) version() int16 {
 }
 
 func (r *HeartbeatRequest) headerVersion() int16 {
+	if r.Version >= 4 {
+		return 2
+	}
 	return 1
 }
 
 func (r *HeartbeatRequest) isValidVersion() bool {
-	return r.Version >= 0 && r.Version <= 3
+	return r.Version >= 0 && r.Version <= 4
+}
+
+func (r *HeartbeatRequest) isFlexible() bool {
+	return r.isFlexibleVersion(r.Version)
+}
+
+func (r *HeartbeatRequest) isFlexibleVersion(version int16) bool {
+	return version >= 4
 }
 
 func (r *HeartbeatRequest) requiredVersion() KafkaVersion {
 	switch r.Version {
+	case 4:
+		return V2_4_0_0
 	case 3:
 		return V2_3_0_0
 	case 2:
diff --git a/heartbeat_request_test.go b/heartbeat_request_test.go
index abcddf1be..7fe924570 100644
--- a/heartbeat_request_test.go
+++ b/heartbeat_request_test.go
@@ -26,6 +26,20 @@ var (
 		0, 3, 'b', 'a', 'z', // Member ID
 		255, 255, // Group Instance ID
 	}
+	basicHeartbeatRequestV4_GID = []byte{
+		4, 'f', 'o', 'o', // Group ID
+		0x00, 0x01, 0x02, 0x03, // Generation ID
+		4, 'b', 'a', 'z', // Member ID
+		4, 'g', 'i', 'd', // Group Instance ID
+		0, // empty tagged fields
+	}
+	basicHeartbeatRequestV4_NOGID = []byte{
+		4, 'f', 'o', 'o', // Group ID
+		0x00, 0x01, 0x02, 0x03, // Generation ID
+		4, 'b', 'a', 'z', // Member ID
+		0, // Group Instance ID
+		0, // empty tagged fields
+	}
 )
 
 func TestHeartbeatRequest(t *testing.T) {
@@ -71,6 +85,30 @@ func TestHeartbeatRequest(t *testing.T) {
 				GroupInstanceId: nil,
 			},
 		},
+		{
+			"v4_basic",
+			4,
+			basicHeartbeatRequestV4_GID,
+			&HeartbeatRequest{
+				Version:         4,
+				GroupId:         "foo",
+				GenerationId:    0x00010203,
+				MemberId:        "baz",
+				GroupInstanceId: &groupInstanceId,
+			},
+		},
+		{
+			"v4_basic",
+			4,
+			basicHeartbeatRequestV4_NOGID,
+			&HeartbeatRequest{
+				Version:         4,
+				GroupId:         "foo",
+				GenerationId:    0x00010203,
+				MemberId:        "baz",
+				GroupInstanceId: nil,
+			},
+		},
 	}
 	for _, c := range tests {
 		testEncodable(t, c.CaseName, c.Message, c.MessageBytes)
diff --git a/heartbeat_response.go b/heartbeat_response.go
index 0371527c2..d753957c9 100644
--- a/heartbeat_response.go
+++ b/heartbeat_response.go
@@ -17,6 +17,7 @@ func (r *HeartbeatResponse) encode(pe packetEncoder) error {
 		pe.putInt32(r.ThrottleTime)
 	}
 	pe.putKError(r.Err)
+	pe.putEmptyTaggedFieldArray()
 	return nil
 }
 
@@ -33,7 +34,8 @@ func (r *HeartbeatResponse) decode(pd packetDecoder, version int16) error {
 		return err
 	}
 
-	return nil
+	_, err = pd.getEmptyTaggedFieldArray()
+	return err
 }
 
 func (r *HeartbeatResponse) key() int16 {
@@ -45,15 +47,28 @@ func (r *HeartbeatResponse) version() int16 {
 }
 
 func (r *HeartbeatResponse) headerVersion() int16 {
+	if r.Version >= 4 {
+		return 1
+	}
 	return 0
 }
 
 func (r *HeartbeatResponse) isValidVersion() bool {
-	return r.Version >= 0 && r.Version <= 3
+	return r.Version >= 0 && r.Version <= 4
+}
+
+func (r *HeartbeatResponse) isFlexible() bool {
+	return r.isFlexibleVersion(r.Version)
+}
+
+func (r *HeartbeatResponse) isFlexibleVersion(version int16) bool {
+	return version >= 4
 }
 
 func (r *HeartbeatResponse) requiredVersion() KafkaVersion {
 	switch r.Version {
+	case 4:
+		return V2_4_0_0
 	case 3:
 		return V2_3_0_0
 	case 2:
diff --git a/heartbeat_response_test.go b/heartbeat_response_test.go
index 071810c70..928c518c7 100644
--- a/heartbeat_response_test.go
+++ b/heartbeat_response_test.go
@@ -19,6 +19,16 @@ var (
 		0, 0, 0, 100,
 		0, byte(ErrFencedInstancedId),
 	}
+	heartbeatResponseNoError_V4 = []byte{
+		0, 0, 0, 100,
+		0, 0,
+		0, // empty tagged fields
+	}
+	heartbeatResponseError_V4 = []byte{
+		0, 0, 0, 100,
+		0, byte(ErrFencedInstancedId),
+		0, // empty tagged fields
+	}
 )
 
 func TestHeartbeatResponse(t *testing.T) {
@@ -57,6 +67,26 @@ func TestHeartbeatResponse(t *testing.T) {
 				ThrottleTime: 100,
 			},
 		},
+		{
+			"v4_noErr",
+			4,
+			heartbeatResponseNoError_V4,
+			&HeartbeatResponse{
+				Version:      4,
+				Err:          ErrNoError,
+				ThrottleTime: 100,
+			},
+		},
+		{
+			"v4_Err",
+			4,
+			heartbeatResponseError_V4,
+			&HeartbeatResponse{
+				Version:      4,
+				Err:          ErrFencedInstancedId,
+				ThrottleTime: 100,
+			},
+		},
 	}
 	for _, c := range tests {
 		testEncodable(t, c.CaseName, c.Message, c.MessageBytes)
diff --git a/request_test.go b/request_test.go
index 16932d29c..f8bd8dc7f 100644
--- a/request_test.go
+++ b/request_test.go
@@ -346,8 +346,7 @@ func TestAllocateBodyProtocolVersions(t *testing.T) {
 				// apiKeyFindCoordinator:             3, // up from 2
 				// TODO: JoinGroupRequest v6 is not supported, but expected for KafkaVersion 2.4.0
 				// apiKeyJoinGroup:                   6, // up from 6
-				// TODO: HeartbeatRequest v4 is not supported, but expected for KafkaVersion 2.4.0
-				// apiKeyHeartbeat:                   4, // up from 3
+				apiKeyHeartbeat:                   4, // up from 3
 				apiKeyLeaveGroup:                  4, // up from 2
 				apiKeySyncGroup:                   4, // up from 3
 				apiKeyDescribeGroups:              5, // up from 3