diff --git a/cscore/src/main/native/cpp/MjpegServerImpl.cpp b/cscore/src/main/native/cpp/MjpegServerImpl.cpp
index b88b8b444e..9dd6f33c7d 100644
--- a/cscore/src/main/native/cpp/MjpegServerImpl.cpp
+++ b/cscore/src/main/native/cpp/MjpegServerImpl.cpp
@@ -643,8 +643,9 @@ void MjpegServerImpl::ConnThread::SendStream(wpi::raw_socket_ostream& os) {
   Frame::Time lastFrameTime = 0;
   Frame::Time timePerFrame = 0;
   if (m_fps != 0) timePerFrame = 1000000.0 / m_fps;
-  // Allow fudge factor of 1 ms in frame rate
-  if (timePerFrame >= 1000) timePerFrame -= 1000;
+  Frame::Time averageFrameTime = 0;
+  Frame::Time averagePeriod = 1000000;  // 1 second window
+  if (averagePeriod < timePerFrame) averagePeriod = timePerFrame * 10;
 
   StartStream();
   while (m_active && !os.has_error()) {
@@ -665,10 +666,26 @@ void MjpegServerImpl::ConnThread::SendStream(wpi::raw_socket_ostream& os) {
       continue;
     }
 
-    if (frame.GetTime() < (lastFrameTime + timePerFrame)) {
-      // Limit FPS; sleep for 10 ms so we don't consume all processor time
-      std::this_thread::sleep_for(std::chrono::milliseconds(10));
-      continue;
+    auto thisFrameTime = frame.GetTime();
+    if (thisFrameTime != 0 && timePerFrame != 0 && lastFrameTime != 0) {
+      Frame::Time deltaTime = thisFrameTime - lastFrameTime;
+
+      // drop frame if it is early compared to the desired frame rate AND
+      // the current average is higher than the desired average
+      if (deltaTime < timePerFrame && averageFrameTime < timePerFrame) {
+        // sleep for 1 ms so we don't consume all processor time
+        std::this_thread::sleep_for(std::chrono::milliseconds(1));
+        continue;
+      }
+
+      // update average
+      if (averageFrameTime != 0) {
+        averageFrameTime =
+            averageFrameTime * (averagePeriod - timePerFrame) / averagePeriod +
+            deltaTime * timePerFrame / averagePeriod;
+      } else {
+        averageFrameTime = deltaTime;
+      }
     }
 
     int width = m_width != 0 ? m_width : frame.GetOriginalWidth();
@@ -705,7 +722,7 @@ void MjpegServerImpl::ConnThread::SendStream(wpi::raw_socket_ostream& os) {
     // print the individual mimetype and the length
     // sending the content-length fixes random stream disruption observed
     // with firefox
-    lastFrameTime = frame.GetTime();
+    lastFrameTime = thisFrameTime;
     double timestamp = lastFrameTime / 1000000.0;
     header.clear();
     oss << "\r\n--" BOUNDARY "\r\n"