diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc
index 33ca352b40..37d35df0c0 100644
--- a/selfdrive/ui/qt/onroad.cc
+++ b/selfdrive/ui/qt/onroad.cc
@@ -865,8 +865,11 @@ void AnnotatedCameraWidget::drawHud(QPainter &p) {
 
   const QRect sign_rect = set_speed_rect.adjusted(sign_margin, default_size.height(), -sign_margin, -sign_margin);
   uiState()->scene.sl_sign_rect = sign_rect;
+
+  speedLimitWarning(p, sign_rect, sign_margin);
+
   // US/Canada (MUTCD style) sign
-  if ((mapSourcedSpeedLimit && !is_metric && !isNavSpeedLimit) || has_us_speed_limit) {
+  if (((mapSourcedSpeedLimit && !is_metric && !isNavSpeedLimit) || has_us_speed_limit) && slcShowSign) {
     p.setPen(Qt::NoPen);
     p.setBrush(whiteColor());
     p.drawRoundedRect(sign_rect, 24, 24);
@@ -888,7 +891,7 @@ void AnnotatedCameraWidget::drawHud(QPainter &p) {
   }
 
   // EU (Vienna style) sign
-  if ((mapSourcedSpeedLimit && is_metric && !isNavSpeedLimit) || has_eu_speed_limit) {
+  if (((mapSourcedSpeedLimit && is_metric && !isNavSpeedLimit) || has_eu_speed_limit) && slcShowSign) {
     p.setPen(Qt::NoPen);
     p.setBrush(whiteColor());
     p.drawEllipse(sign_rect);
@@ -1570,6 +1573,14 @@ int AnnotatedCameraWidget::blinkerPulse(int frame) {
   return blinker_state;
 }
 
+void AnnotatedCameraWidget::speedLimitSignPulse(int frame) {
+  if (frame % UI_FREQ < (UI_FREQ / 2.5)) {
+    slcShowSign = false;
+  } else {
+    slcShowSign = true;
+  }
+}
+
 void AnnotatedCameraWidget::drawFeatureStatusText(QPainter &p, int x, int y) {
   const FeatureStatusText feature_text;
   const FeatureStatusColor feature_color;
@@ -1641,6 +1652,17 @@ void AnnotatedCameraWidget::drawFeatureStatusText(QPainter &p, int x, int y) {
   }
 }
 
+void AnnotatedCameraWidget::speedLimitWarning(QPainter &p, QRect sign_rect, const int sign_margin) {
+  // current speed over speed limit
+  if (overSpeedLimit) {
+    speed_limit_frame++;
+    speedLimitSignPulse(speed_limit_frame);
+  } else {
+    speed_limit_frame = 0;
+    slcShowSign = true;
+  }
+}
+
 
 void AnnotatedCameraWidget::initializeGL() {
   CameraWidget::initializeGL();
diff --git a/selfdrive/ui/qt/onroad.h b/selfdrive/ui/qt/onroad.h
index da5952cd9e..3990a1e3d9 100644
--- a/selfdrive/ui/qt/onroad.h
+++ b/selfdrive/ui/qt/onroad.h
@@ -124,6 +124,8 @@ private:
   void updateButtonsLayout();
 
   void drawFeatureStatusText(QPainter &p, int x, int y);
+  void speedLimitSignPulse(int frame);
+  void speedLimitWarning(QPainter &p, QRect sign_rect, const int sign_margin);
   void mousePressEvent(QMouseEvent* e) override;
   Params params;
 
@@ -233,6 +235,9 @@ private:
   int dynamicLaneProfile;
   QString mpcMode;
 
+  int speed_limit_frame;
+  bool slcShowSign = true;
+
 protected:
   void paintGL() override;
   void initializeGL() override;