diff --git a/packages/component-base/src/browser-utils.js b/packages/component-base/src/browser-utils.js
index 245c57bd8e..25e91fd2db 100644
--- a/packages/component-base/src/browser-utils.js
+++ b/packages/component-base/src/browser-utils.js
@@ -33,3 +33,6 @@ export const isTouch = (() => {
     return false;
   }
 })();
+
+export const supportsAdoptingStyleSheets =
+  window.ShadowRoot && 'adoptedStyleSheets' in Document.prototype && 'replace' in CSSStyleSheet.prototype;
diff --git a/packages/grid/src/vaadin-grid-mixin.js b/packages/grid/src/vaadin-grid-mixin.js
index b7b885e181..a5355c368e 100644
--- a/packages/grid/src/vaadin-grid-mixin.js
+++ b/packages/grid/src/vaadin-grid-mixin.js
@@ -6,7 +6,15 @@
 import { isElementHidden } from '@vaadin/a11y-base/src/focus-utils.js';
 import { TabindexMixin } from '@vaadin/a11y-base/src/tabindex-mixin.js';
 import { animationFrame, microTask } from '@vaadin/component-base/src/async.js';
-import { isAndroid, isChrome, isFirefox, isIOS, isSafari, isTouch } from '@vaadin/component-base/src/browser-utils.js';
+import {
+  isAndroid,
+  isChrome,
+  isFirefox,
+  isIOS,
+  isSafari,
+  isTouch,
+  supportsAdoptingStyleSheets,
+} from '@vaadin/component-base/src/browser-utils.js';
 import { Debouncer } from '@vaadin/component-base/src/debounce.js';
 import { getClosestElement } from '@vaadin/component-base/src/dom-utils.js';
 import { SlotObserver } from '@vaadin/component-base/src/slot-observer.js';
@@ -269,6 +277,16 @@ export const GridMixin = (superClass) =>
         }),
       ).observe(this.$.table);
 
+      const minHeightObserver = new ResizeObserver(() =>
+        setTimeout(() => {
+          this.__updateMinHeight();
+        }),
+      );
+
+      minHeightObserver.observe(this.$.header);
+      minHeightObserver.observe(this.$.items);
+      minHeightObserver.observe(this.$.footer);
+
       processTemplates(this);
 
       this._tooltipController = new TooltipController(this);
@@ -1116,4 +1134,28 @@ export const GridMixin = (superClass) =>
         this.__virtualizer.update(start, end);
       }
     }
+
+    /** @private */
+    __updateMinHeight() {
+      // Min height is calculated based on the header, footer and a single row
+      // For now use a hard-coded value for the row that matches a single default row in Lumo
+      const rowHeight = 36;
+      const headerHeight = this.$.header.clientHeight;
+      const footerHeight = this.$.footer.clientHeight;
+      const scrollbarHeight = this.$.table.offsetHeight - this.$.table.clientHeight;
+      const minHeight = headerHeight + rowHeight + footerHeight + scrollbarHeight;
+
+      // The style is set to host instead of the scroller so that the value can be overridden by the user with "grid { min-height: 0 }"
+      // Prefer setting style in adopted style sheet to avoid the need to add a confusing inline style on the host element
+      // If adopted style sheets are not supported, the style is set inline
+      if (!this.__minHeightStyleSheet && supportsAdoptingStyleSheets) {
+        this.__minHeightStyleSheet = new CSSStyleSheet();
+        this.shadowRoot.adoptedStyleSheets = [...this.shadowRoot.adoptedStyleSheets, this.__minHeightStyleSheet];
+      }
+      if (this.__minHeightStyleSheet) {
+        this.__minHeightStyleSheet.replaceSync(`:host { --_grid-min-height: ${minHeight}px; }`);
+      } else {
+        this.style.setProperty('--_grid-min-height', `${minHeight}px`);
+      }
+    }
   };
diff --git a/packages/grid/src/vaadin-grid-styles.js b/packages/grid/src/vaadin-grid-styles.js
index a23ad3a9eb..7fd9129503 100644
--- a/packages/grid/src/vaadin-grid-styles.js
+++ b/packages/grid/src/vaadin-grid-styles.js
@@ -17,6 +17,7 @@ export const gridStyles = css`
     flex-direction: column;
     animation: 1ms vaadin-grid-appear;
     height: 400px;
+    min-height: var(--_grid-min-height, 0);
     flex: 1 1 auto;
     align-self: stretch;
     position: relative;
diff --git a/packages/grid/test/min-height-lit.test.js b/packages/grid/test/min-height-lit.test.js
new file mode 100644
index 0000000000..6e917cea80
--- /dev/null
+++ b/packages/grid/test/min-height-lit.test.js
@@ -0,0 +1,3 @@
+import '../theme/lumo/lit-all-imports.js';
+import '../src/lit-all-imports.js';
+import './min-height.common.js';
diff --git a/packages/grid/test/min-height-polymer.test.js b/packages/grid/test/min-height-polymer.test.js
new file mode 100644
index 0000000000..a40277f372
--- /dev/null
+++ b/packages/grid/test/min-height-polymer.test.js
@@ -0,0 +1,2 @@
+import '../vaadin-grid.js';
+import './min-height.common.js';
diff --git a/packages/grid/test/min-height.common.js b/packages/grid/test/min-height.common.js
new file mode 100644
index 0000000000..0e3af294a7
--- /dev/null
+++ b/packages/grid/test/min-height.common.js
@@ -0,0 +1,118 @@
+import { expect } from '@vaadin/chai-plugins';
+import { fixtureSync } from '@vaadin/testing-helpers';
+import { flushGrid, infiniteDataProvider, nextResize } from './helpers.js';
+
+describe('min-height', () => {
+  const rowHeight = 36;
+
+  let grid;
+
+  function verifyMinHeight(withHeader = false, withFooter = false) {
+    const height = grid.getBoundingClientRect().height;
+
+    const headerHeight = grid.$.header.getBoundingClientRect().height;
+    if (withHeader) {
+      expect(headerHeight).to.be.above(0);
+    } else {
+      expect(headerHeight).to.equal(0);
+    }
+
+    const footerHeight = grid.$.footer.getBoundingClientRect().height;
+    if (withFooter) {
+      expect(footerHeight).to.be.above(0);
+    } else {
+      expect(footerHeight).to.equal(0);
+    }
+
+    const expectedHeight = rowHeight + headerHeight + footerHeight;
+    expect(height).to.equal(expectedHeight);
+  }
+
+  beforeEach(async () => {
+    grid = fixtureSync(`
+      <vaadin-grid style="height: 0;">
+        <vaadin-grid-column></vaadin-grid-column>
+      </vaadin-grid>
+    `);
+    flushGrid(grid);
+    await nextResize(grid);
+  });
+
+  describe('without header or footer', () => {
+    it('should should have min-height of one row', () => {
+      verifyMinHeight();
+    });
+  });
+
+  describe('with header', () => {
+    beforeEach(async () => {
+      grid.querySelector('vaadin-grid-column').header = 'Header';
+      flushGrid(grid);
+      await nextResize(grid);
+    });
+
+    it('should should have min-height of header and one row', () => {
+      verifyMinHeight(true, false);
+    });
+  });
+
+  describe('with footer', () => {
+    beforeEach(async () => {
+      grid.querySelector('vaadin-grid-column').footerRenderer = (root) => {
+        root.textContent = 'Footer';
+      };
+      flushGrid(grid);
+      await nextResize(grid);
+    });
+
+    it('should should have min-height of footer and one row', () => {
+      verifyMinHeight(false, true);
+    });
+  });
+
+  describe('with header and footer', () => {
+    beforeEach(async () => {
+      grid.querySelector('vaadin-grid-column').header = 'Header';
+      grid.querySelector('vaadin-grid-column').footerRenderer = (root) => {
+        root.textContent = 'Footer';
+      };
+      flushGrid(grid);
+      await nextResize(grid);
+    });
+
+    it('should should have min-height of header, footer and one row', () => {
+      verifyMinHeight(true, true);
+    });
+  });
+
+  describe('with data', () => {
+    beforeEach(async () => {
+      grid.querySelector('vaadin-grid-column').path = 'value';
+      grid.querySelector('vaadin-grid-column').header = null;
+      grid.dataProvider = infiniteDataProvider;
+      flushGrid(grid);
+      await nextResize(grid);
+    });
+
+    it('should should have min-height of one row', () => {
+      verifyMinHeight();
+    });
+  });
+
+  describe('override', () => {
+    beforeEach(() => {
+      fixtureSync(`
+        <style>
+          vaadin-grid {
+            min-height: 200px;
+          }
+        </style>
+      `);
+    });
+
+    it('should allow overriding min-height through stylesheet', () => {
+      const height = grid.getBoundingClientRect().height;
+      expect(height).to.equal(200);
+    });
+  });
+});
diff --git a/packages/grid/test/visual/lumo/screenshots/grid/baseline/ltr-header-footer.png b/packages/grid/test/visual/lumo/screenshots/grid/baseline/ltr-header-footer.png
index 839733d9f1..eb4d1f22fb 100644
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diff --git a/packages/grid/test/visual/lumo/screenshots/grid/baseline/rtl-header-footer.png b/packages/grid/test/visual/lumo/screenshots/grid/baseline/rtl-header-footer.png
index 6b2a2e8132..0bb87728c4 100644
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diff --git a/packages/grid/test/visual/material/screenshots/grid/baseline/ltr-header-footer.png b/packages/grid/test/visual/material/screenshots/grid/baseline/ltr-header-footer.png
index 937e34ceb6..8145a10849 100644
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diff --git a/packages/grid/test/visual/material/screenshots/grid/baseline/rtl-header-footer.png b/packages/grid/test/visual/material/screenshots/grid/baseline/rtl-header-footer.png
index 68ff572e76..84c705cde5 100644
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