diff --git a/docs/pages/includes/config-reference/ssh-service.yaml b/docs/pages/includes/config-reference/ssh-service.yaml
index 671893a9ecf4d..d7965552b563c 100644
--- a/docs/pages/includes/config-reference/ssh-service.yaml
+++ b/docs/pages/includes/config-reference/ssh-service.yaml
@@ -2,90 +2,101 @@ ssh_service:
     # Turns 'ssh' role on. Default is true
     enabled: true
 
-    # IP and the port for SSH service to bind to.
-    listen_addr: 0.0.0.0:3022
+  # IP and the port for SSH service to bind to.
+  listen_addr: 0.0.0.0:3022
 
-    # The optional public address the SSH service. This is useful if
-    # administrators want to allow users to connect to nodes directly,
-    # bypassing a Teleport proxy.
-    public_addr: node.example.com:3022
+  # The optional public address the SSH service. This is useful if
+  # administrators want to allow users to connect to nodes directly,
+  # bypassing a Teleport proxy.
+  public_addr: node.example.com:3022
 
-    labels:
-        role: leader
-        type: postgres
+  labels:
+    role: leader
+    type: postgres
 
-    # List of the commands to periodically execute. Their output will be used
-    # as node labels.
-    commands:
+  # List of the commands to periodically execute. Their output will be used
+  # as node labels.
+  commands:
     # this command will add a label 'arch=x86_64' to a node
     - name: arch
       command: ['/bin/uname', '-p']
       period: 1h0m0s
 
-    # Enables reading ~/.tsh/environment on the server before creating a session.
-    # Disabled by default. Can be enabled here or via the `--permit-user-env` flag.
-    permit_user_env: false
-
-    # Disables automatic creation of host users on this SSH node.
-    # Set to false by default.
-    disable_create_host_user: true
-
-    # Enhanced Session Recording
-    enhanced_recording:
-       # Enable or disable enhanced auditing for this node. Default value:
-       # false.
-       enabled: false
-
-       # command_buffer_size is optional with a default value of 8 pages.
-       command_buffer_size: 8
-
-       # disk_buffer_size is optional with default value of 128 pages.
-       disk_buffer_size: 128
-
-       # network_buffer_size is optional with default value of 8 pages.
-       network_buffer_size: 8
-
-       # Controls where cgroupv2 hierarchy is mounted. Default value:
-       # /cgroup2.
-       cgroup_path: /cgroup2
-
-       # Optional: Controls the path inside cgroupv2 hierarchy where Teleport
-       # cgroups will be placed. Default value: /teleport
-       root_path: /teleport
-
-    # Configures the PAM integration.
-    pam:
-        # "no" by default
-        enabled: yes
-        # use /etc/pam.d/sshd configuration (the default)
-        service_name: "sshd"
-        # use the "auth" modules in the PAM config
-        # "false" by default
-        use_pam_auth: true
-
-    # Enables/disables TCP forwarding. Default is 'true'
-    port_forwarding: true
-
-    # When x11.enabled is set to yes, users with the "permit_x11_forwarding"
-    # role option will be able to request X11 forwarding sessions with
-    # "tsh ssh -X".
-    #
-    # X11 forwarding will only work if the server has the "xauth" binary
-    # installed and the Teleport Node can open Unix sockets.
-    # e.g. "$TEMP/.X11-unix/X[display_number]."
-    x11:
-      # no by default
-      enabled: yes
-      # display_offset can be used to specify the start of the range of X11
-      # displays the server will use when granting X11 forwarding sessions
-      # 10 by default
-      display_offset: 10
-      # max_display can be set to specify the end of the range of X11 displays
-      # to use when granting X11 forwarding sessions
-      # display_offset + 1000 by default
-      max_display: 1010
-
-    # Enables/disables remote file operations via SCP/SFTP for this Node. Default
-    # value: true
-    ssh_file_copy: true
-
+  # Enables reading ~/.tsh/environment on the server before creating a session.
+  # Disabled by default. Can be enabled here or via the `--permit-user-env` flag.
+  permit_user_env: false
+
+  # Disables automatic creation of host users on this SSH node.
+  # Set to false by default.
+  disable_create_host_user: true
+
+  # Enables listening on the configured listen_addr when connected
+  # to the cluster via a reverse tunnel. If no listen_addr is
+  # configured, the default address is used.
+  #
+  # This allows the service to be connectable by users with direct network access.
+  # All connections still require a valid user certificate to be presented and will
+  # not permit any additional access. This is intended to provide an optional connection
+  # path to reduce latency if the Proxy is not co-located with the user and service.
+  #
+  # Set to false by default.
+  force_listen: false
+
+  # Enhanced Session Recording
+  enhanced_recording:
+    # Enable or disable enhanced auditing for this node. Default value:
+    # false.
+    enabled: false
+
+    # command_buffer_size is optional with a default value of 8 pages.
+    command_buffer_size: 8
+
+    # disk_buffer_size is optional with default value of 128 pages.
+    disk_buffer_size: 128
+
+    # network_buffer_size is optional with default value of 8 pages.
+    network_buffer_size: 8
+
+    # Controls where cgroupv2 hierarchy is mounted. Default value:
+    # /cgroup2.
+    cgroup_path: /cgroup2
+
+    # Optional: Controls the path inside cgroupv2 hierarchy where Teleport
+    # cgroups will be placed. Default value: /teleport
+    root_path: /teleport
+
+  # Configures the PAM integration.
+  pam:
+    # "no" by default
+    enabled: yes
+    # use /etc/pam.d/sshd configuration (the default)
+    service_name: 'sshd'
+    # use the "auth" modules in the PAM config
+    # "false" by default
+    use_pam_auth: true
+
+  # Enables/disables TCP forwarding. Default is 'true'
+  port_forwarding: true
+
+  # When x11.enabled is set to yes, users with the "permit_x11_forwarding"
+  # role option will be able to request X11 forwarding sessions with
+  # "tsh ssh -X".
+  #
+  # X11 forwarding will only work if the server has the "xauth" binary
+  # installed and the Teleport Node can open Unix sockets.
+  # e.g. "$TEMP/.X11-unix/X[display_number]."
+  x11:
+    # no by default
+    enabled: yes
+    # display_offset can be used to specify the start of the range of X11
+    # displays the server will use when granting X11 forwarding sessions
+    # 10 by default
+    display_offset: 10
+    # max_display can be set to specify the end of the range of X11 displays
+    # to use when granting X11 forwarding sessions
+    # display_offset + 1000 by default
+    max_display: 1010
+
+  # Enables/disables remote file operations via SCP/SFTP for this Node. Default
+  # value: true
+  ssh_file_copy: true
diff --git a/integration/integration_test.go b/integration/integration_test.go
index 52b4f68ea58c9..d1e112edb7187 100644
--- a/integration/integration_test.go
+++ b/integration/integration_test.go
@@ -161,6 +161,7 @@ func TestIntegrations(t *testing.T) {
 	t.Run("EscapeSequenceTriggers", suite.bind(testEscapeSequenceTriggers))
 	t.Run("ExecEvents", suite.bind(testExecEvents))
 	t.Run("ExternalClient", suite.bind(testExternalClient))
+	t.Run("ForceListenerInTunnelMode", suite.bind(testForceListenerInTunnelMode))
 	t.Run("HA", suite.bind(testHA))
 	t.Run("Interactive (Regular)", suite.bind(testInteractiveRegular))
 	t.Run("Interactive (Reverse Tunnel)", suite.bind(testInteractiveReverseTunnel))
@@ -9201,3 +9202,140 @@ func testNegotiatedALPNProtocols(t *testing.T, suite *integrationTestSuite) {
 		})
 	}
 }
+
+func testForceListenerInTunnelMode(t *testing.T, suite *integrationTestSuite) {
+	// InsecureDevMode needed for IoT node handshake
+	lib.SetInsecureDevMode(true)
+	defer lib.SetInsecureDevMode(false)
+
+	// Create a Teleport instance with Auth/Proxy.
+	mainConfig := func() *servicecfg.Config {
+		tconf := suite.defaultServiceConfig()
+		tconf.Auth.Enabled = true
+
+		tconf.Proxy.Enabled = true
+		tconf.Proxy.DisableWebService = false
+		tconf.Proxy.DisableWebInterface = true
+
+		tconf.SSH.Enabled = false
+
+		return tconf
+	}
+	main := suite.NewTeleportWithConfig(t, nil, nil, mainConfig())
+
+	// Create a Teleport ssh instance.
+	nodeConfig := func(tunnel, forceListen bool) *servicecfg.Config {
+		tconf := suite.defaultServiceConfig()
+		tconf.Hostname = Host
+		tconf.SetToken("token")
+
+		if tunnel {
+			tconf.SetAuthServerAddress(utils.NetAddr{
+				AddrNetwork: "tcp",
+				Addr:        main.Web,
+			})
+		} else {
+			tconf.SetAuthServerAddress(utils.NetAddr{
+				AddrNetwork: "tcp",
+				Addr:        main.Auth,
+			})
+		}
+
+		tconf.Auth.Enabled = false
+
+		tconf.Proxy.Enabled = false
+
+		tconf.SSH.Enabled = true
+
+		if forceListen {
+			tconf.SSH.Addr = utils.NetAddr{
+				Addr: helpers.NewListenerOn(t, Host, service.ListenerNodeSSH, &tconf.FileDescriptors),
+			}
+			tconf.SSH.ForceListen = true
+		}
+
+		return tconf
+	}
+
+	forceListenNode, err := main.StartReverseTunnelNode(nodeConfig(true, true))
+	require.NoError(t, err)
+
+	tunnelOnlyNode, err := main.StartReverseTunnelNode(nodeConfig(true, false))
+	require.NoError(t, err)
+
+	directNode, err := main.StartNode(nodeConfig(false, true))
+	require.NoError(t, err)
+
+	forceListenDirectNode, err := main.StartNode(nodeConfig(false, true))
+	require.NoError(t, err)
+
+	require.NoError(t, main.WaitForNodeCount(context.Background(), helpers.Site, 4))
+
+	creds, err := helpers.GenerateUserCreds(helpers.UserCredsRequest{
+		Process:  main.Process,
+		Username: suite.Me.Username,
+	})
+	require.NoError(t, err)
+
+	signer, err := creds.KeyRing.SSHSigner()
+	require.NoError(t, err)
+
+	t.Run("tunnel node", func(t *testing.T) {
+		t.Run("forced listen node", func(t *testing.T) {
+			clt, err := ssh.Dial("tcp", forceListenNode.Config.SSH.Addr.Addr, &ssh.ClientConfig{
+				User:            suite.Me.Username,
+				Auth:            []ssh.AuthMethod{ssh.PublicKeys(signer)},
+				HostKeyCallback: ssh.InsecureIgnoreHostKey(),
+				Timeout:         15 * time.Second,
+			})
+			require.NoError(t, err)
+
+			ok, resp, err := clt.SendRequest(teleport.VersionRequest, true, nil)
+			require.NoError(t, err)
+			require.True(t, ok)
+			require.Equal(t, teleport.Version, string(resp))
+		})
+
+		t.Run("tunnel only node", func(t *testing.T) {
+			_, err := ssh.Dial("tcp", tunnelOnlyNode.Config.SSH.Addr.Addr, &ssh.ClientConfig{
+				User:            suite.Me.Username,
+				Auth:            []ssh.AuthMethod{ssh.PublicKeys(signer)},
+				HostKeyCallback: ssh.InsecureIgnoreHostKey(),
+				Timeout:         15 * time.Second,
+			})
+			require.Error(t, err)
+		})
+	})
+
+	t.Run("direct node", func(t *testing.T) {
+		t.Run("forced listen node", func(t *testing.T) {
+			clt, err := ssh.Dial("tcp", forceListenDirectNode.Config.SSH.Addr.Addr, &ssh.ClientConfig{
+				User:            suite.Me.Username,
+				Auth:            []ssh.AuthMethod{ssh.PublicKeys(signer)},
+				HostKeyCallback: ssh.InsecureIgnoreHostKey(),
+				Timeout:         15 * time.Second,
+			})
+			require.NoError(t, err)
+
+			ok, resp, err := clt.SendRequest(teleport.VersionRequest, true, nil)
+			require.NoError(t, err)
+			require.True(t, ok)
+			require.Equal(t, teleport.Version, string(resp))
+		})
+
+		t.Run("direct node", func(t *testing.T) {
+			clt, err := ssh.Dial("tcp", directNode.Config.SSH.Addr.Addr, &ssh.ClientConfig{
+				User:            suite.Me.Username,
+				Auth:            []ssh.AuthMethod{ssh.PublicKeys(signer)},
+				HostKeyCallback: ssh.InsecureIgnoreHostKey(),
+				Timeout:         15 * time.Second,
+			})
+			require.NoError(t, err)
+
+			ok, resp, err := clt.SendRequest(teleport.VersionRequest, true, nil)
+			require.NoError(t, err)
+			require.True(t, ok)
+			require.Equal(t, teleport.Version, string(resp))
+		})
+	})
+}
diff --git a/lib/config/configuration.go b/lib/config/configuration.go
index e6ede9f0d332f..baec2ecaf5c94 100644
--- a/lib/config/configuration.go
+++ b/lib/config/configuration.go
@@ -1598,6 +1598,8 @@ func applySSHConfig(fc *FileConfig, cfg *servicecfg.Config) (err error) {
 
 	cfg.SSH.AllowFileCopying = fc.SSH.SSHFileCopy()
 
+	cfg.SSH.ForceListen = fc.SSH.ForceListen
+
 	return nil
 }
 
diff --git a/lib/config/fileconf.go b/lib/config/fileconf.go
index 727674c29435a..3ceba36ea11ac 100644
--- a/lib/config/fileconf.go
+++ b/lib/config/fileconf.go
@@ -1452,6 +1452,16 @@ type SSH struct {
 	// DisableCreateHostUser disables automatic user provisioning on this
 	// SSH node.
 	DisableCreateHostUser bool `yaml:"disable_create_host_user,omitempty"`
+
+	// ForceListen enables listening on the configured ListenAddress
+	// when connected to the cluster via a reverse tunnel. If no ListenAddress is
+	// configured, the default address is used.
+	//
+	// This allows the service to be connectable by users with direct network access.
+	// All connections still require a valid user certificate to be presented and will
+	// not permit any additional access. This is intended to provide an optional connection
+	// path to reduce latency if the Proxy is not co-located with the user and service.
+	ForceListen bool `yaml:"force_listen,omitempty"`
 }
 
 // AllowTCPForwarding checks whether the config file allows TCP forwarding or not.
diff --git a/lib/service/service.go b/lib/service/service.go
index 092a10d4da686..755b7940dd4e4 100644
--- a/lib/service/service.go
+++ b/lib/service/service.go
@@ -3031,13 +3031,15 @@ func (process *TeleportProcess) initSSH() error {
 			logger.WarnContext(process.ExitContext(), warn)
 		}
 
+		useLocalListener := cfg.SSH.ForceListen || !conn.UseTunnel()
+
 		// Provide helpful log message if listen_addr or public_addr are not being
 		// used (tunnel is used to connect to cluster).
 		//
 		// If a tunnel is not being used, set the default here (could not be done in
 		// file configuration because at that time it's not known if server is
 		// joining cluster directly or through a tunnel).
-		if conn.UseTunnel() {
+		if !useLocalListener {
 			if !cfg.SSH.Addr.IsEmpty() {
 				logger.InfoContext(process.ExitContext(), "Connected to cluster over tunnel connection, ignoring listen_addr setting.")
 			}
@@ -3045,7 +3047,7 @@ func (process *TeleportProcess) initSSH() error {
 				logger.InfoContext(process.ExitContext(), "Connected to cluster over tunnel connection, ignoring public_addr setting.")
 			}
 		}
-		if !conn.UseTunnel() && cfg.SSH.Addr.IsEmpty() {
+		if useLocalListener && cfg.SSH.Addr.IsEmpty() {
 			cfg.SSH.Addr = *defaults.SSHServerListenAddr()
 		}
 
@@ -3164,7 +3166,7 @@ func (process *TeleportProcess) initSSH() error {
 		}
 
 		var agentPool *reversetunnel.AgentPool
-		if !conn.UseTunnel() {
+		if useLocalListener {
 			listener, err := process.importOrCreateListener(ListenerNodeSSH, cfg.SSH.Addr.Addr)
 			if err != nil {
 				return trace.Wrap(err)
@@ -3212,7 +3214,9 @@ func (process *TeleportProcess) initSSH() error {
 			if err := s.Start(); err != nil {
 				return trace.Wrap(err)
 			}
+		}
 
+		if conn.UseTunnel() {
 			var serverHandler reversetunnel.ServerHandler = s
 			if resumableServer != nil {
 				serverHandler = resumableServer
diff --git a/lib/service/servicecfg/ssh.go b/lib/service/servicecfg/ssh.go
index a29b93482752f..963b961707849 100644
--- a/lib/service/servicecfg/ssh.go
+++ b/lib/service/servicecfg/ssh.go
@@ -62,4 +62,13 @@ type SSHConfig struct {
 	// DisableCreateHostUser disables automatic user provisioning on this
 	// SSH node.
 	DisableCreateHostUser bool
+
+	// ForceListen enables the service to listen on the configured [Addr]
+	// when it is connected to the cluster via a reverse tunnel.
+	// This allows the service to be connectable by users with direct network access.
+	// All connections still require a valid user certificate to be presented and will
+	// not permit any extra access. This is intended to provide an optional connection
+	// path to hosts that may provide reduced latency if the Proxy is not co-located with
+	// the user and service.
+	ForceListen bool
 }