diff --git a/agent/consul/health_endpoint.go b/agent/consul/health_endpoint.go
index 70cc2e37dd..214de777d1 100644
--- a/agent/consul/health_endpoint.go
+++ b/agent/consul/health_endpoint.go
@@ -130,6 +130,21 @@ func (h *Health) ServiceNodes(args *structs.ServiceSpecificRequest, reply *struc
 		}
 	}
 
+	// If we're doing a connect query, we need read access to the service
+	// we're trying to find proxies for, so check that.
+	if args.Connect {
+		// Fetch the ACL token, if any.
+		rule, err := h.srv.resolveToken(args.Token)
+		if err != nil {
+			return err
+		}
+
+		if rule != nil && !rule.ServiceRead(args.ServiceName) {
+			// Just return nil, which will return an empty response (tested)
+			return nil
+		}
+	}
+
 	err := h.srv.blockingQuery(
 		&args.QueryOptions,
 		&reply.QueryMeta,
diff --git a/agent/consul/health_endpoint_test.go b/agent/consul/health_endpoint_test.go
index c9581e3a75..117afd6469 100644
--- a/agent/consul/health_endpoint_test.go
+++ b/agent/consul/health_endpoint_test.go
@@ -10,6 +10,7 @@ import (
 	"github.com/hashicorp/consul/lib"
 	"github.com/hashicorp/consul/testrpc"
 	"github.com/hashicorp/net-rpc-msgpackrpc"
+	"github.com/stretchr/testify/assert"
 )
 
 func TestHealth_ChecksInState(t *testing.T) {
@@ -821,6 +822,106 @@ func TestHealth_ServiceNodes_DistanceSort(t *testing.T) {
 	}
 }
 
+func TestHealth_ServiceNodes_ConnectProxy_ACL(t *testing.T) {
+	t.Parallel()
+
+	assert := assert.New(t)
+	dir1, s1 := testServerWithConfig(t, func(c *Config) {
+		c.ACLDatacenter = "dc1"
+		c.ACLMasterToken = "root"
+		c.ACLDefaultPolicy = "deny"
+		c.ACLEnforceVersion8 = false
+	})
+	defer os.RemoveAll(dir1)
+	defer s1.Shutdown()
+	codec := rpcClient(t, s1)
+	defer codec.Close()
+
+	testrpc.WaitForLeader(t, s1.RPC, "dc1")
+
+	// Create the ACL.
+	arg := structs.ACLRequest{
+		Datacenter: "dc1",
+		Op:         structs.ACLSet,
+		ACL: structs.ACL{
+			Name: "User token",
+			Type: structs.ACLTypeClient,
+			Rules: `
+service "foo" {
+	policy = "write"
+}
+`,
+		},
+		WriteRequest: structs.WriteRequest{Token: "root"},
+	}
+	var token string
+	assert.Nil(msgpackrpc.CallWithCodec(codec, "ACL.Apply", arg, &token))
+
+	{
+		var out struct{}
+
+		// Register a service
+		args := structs.TestRegisterRequestProxy(t)
+		args.WriteRequest.Token = "root"
+		args.Service.ID = "foo-proxy-0"
+		args.Service.Service = "foo-proxy"
+		args.Service.ProxyDestination = "bar"
+		args.Check = &structs.HealthCheck{
+			Name:      "proxy",
+			Status:    api.HealthPassing,
+			ServiceID: args.Service.ID,
+		}
+		assert.Nil(msgpackrpc.CallWithCodec(codec, "Catalog.Register", &args, &out))
+
+		// Register a service
+		args = structs.TestRegisterRequestProxy(t)
+		args.WriteRequest.Token = "root"
+		args.Service.Service = "foo-proxy"
+		args.Service.ProxyDestination = "foo"
+		args.Check = &structs.HealthCheck{
+			Name:      "proxy",
+			Status:    api.HealthPassing,
+			ServiceID: args.Service.Service,
+		}
+		assert.Nil(msgpackrpc.CallWithCodec(codec, "Catalog.Register", &args, &out))
+
+		// Register a service
+		args = structs.TestRegisterRequestProxy(t)
+		args.WriteRequest.Token = "root"
+		args.Service.Service = "another-proxy"
+		args.Service.ProxyDestination = "foo"
+		args.Check = &structs.HealthCheck{
+			Name:      "proxy",
+			Status:    api.HealthPassing,
+			ServiceID: args.Service.Service,
+		}
+		assert.Nil(msgpackrpc.CallWithCodec(codec, "Catalog.Register", &args, &out))
+	}
+
+	// List w/ token. This should disallow because we don't have permission
+	// to read "bar"
+	req := structs.ServiceSpecificRequest{
+		Connect:      true,
+		Datacenter:   "dc1",
+		ServiceName:  "bar",
+		QueryOptions: structs.QueryOptions{Token: token},
+	}
+	var resp structs.IndexedCheckServiceNodes
+	assert.Nil(msgpackrpc.CallWithCodec(codec, "Health.ServiceNodes", &req, &resp))
+	assert.Len(resp.Nodes, 0)
+
+	// List w/ token. This should work since we're requesting "foo", but should
+	// also only contain the proxies with names that adhere to our ACL.
+	req = structs.ServiceSpecificRequest{
+		Connect:      true,
+		Datacenter:   "dc1",
+		ServiceName:  "foo",
+		QueryOptions: structs.QueryOptions{Token: token},
+	}
+	assert.Nil(msgpackrpc.CallWithCodec(codec, "Health.ServiceNodes", &req, &resp))
+	assert.Len(resp.Nodes, 1)
+}
+
 func TestHealth_NodeChecks_FilterACL(t *testing.T) {
 	t.Parallel()
 	dir, token, srv, codec := testACLFilterServer(t)