diff --git a/src/pandablocks/asyncio.py b/src/pandablocks/asyncio.py
index b420f5b6..f7f9bf42 100644
--- a/src/pandablocks/asyncio.py
+++ b/src/pandablocks/asyncio.py
@@ -99,8 +99,16 @@ async def __aexit__(self, exc_type, exc_val, exc_tb):
         await self.close()
 
     async def _ctrl_read_forever(self, reader: asyncio.StreamReader):
+        """Continually read data from the stream reader and add to the data queue.
+
+        Args:
+            reader: The `StreamReader` to read from
+        """
         while True:
             received = await reader.read(4096)
+            if received == b"":
+                raise ConnectionError("Received an empty packet. Closing connection.")
+
             try:
                 to_send = self._ctrl_connection.receive_bytes(received)
                 await self._ctrl_stream.write_and_drain(to_send)
diff --git a/tests/test_asyncio.py b/tests/test_asyncio.py
index dc54e1bb..b63a06ee 100644
--- a/tests/test_asyncio.py
+++ b/tests/test_asyncio.py
@@ -104,6 +104,37 @@ async def test_asyncio_data_timeout(dummy_server_async, fast_dump):
                 "This goes forever, when it runs out of data we will get our timeout"
 
 
+async def test_asyncio_empty_frame_error():
+    dummy_data = [b"ABC"] * 10 + [b""]
+    dummy_data_iter = iter(dummy_data)
+
+    async def dummy_read(n):
+        return dummy_data_iter.__next__()
+
+    reader = asyncio.StreamReader()
+    reader.read = dummy_read
+
+    written = []
+
+    class DummyControlStream:
+        async def write_and_drain(self, data):
+            written.append(data)
+
+    class DummyControlConnection:
+        def receive_bytes(self, data):
+            return data
+
+    client = AsyncioClient("localhost")
+    client._ctrl_stream = DummyControlStream()
+    client._ctrl_connection = DummyControlConnection()
+    with pytest.raises(
+        ConnectionError, match="Received an empty packet. Closing connection."
+    ):
+        await client._ctrl_read_forever(reader)
+    assert written == dummy_data[:-1]
+    client.close()
+
+
 @pytest.mark.asyncio
 async def test_asyncio_connects(dummy_server_async: DummyServer):
     async with AsyncioClient("localhost") as client: