diff --git a/homeassistant/components/rest_command/__init__.py b/homeassistant/components/rest_command/__init__.py
index 10f37b6ac4c..7dfbb964167 100644
--- a/homeassistant/components/rest_command/__init__.py
+++ b/homeassistant/components/rest_command/__init__.py
@@ -37,7 +37,7 @@ COMMAND_SCHEMA = vol.Schema(
         vol.Optional(CONF_METHOD, default=DEFAULT_METHOD): vol.All(
             vol.Lower, vol.In(SUPPORT_REST_METHODS)
         ),
-        vol.Optional(CONF_HEADERS): vol.Schema({cv.string: cv.string}),
+        vol.Optional(CONF_HEADERS): vol.Schema({cv.string: cv.template}),
         vol.Inclusive(CONF_USERNAME, "authentication"): cv.string,
         vol.Inclusive(CONF_PASSWORD, "authentication"): cv.string,
         vol.Optional(CONF_PAYLOAD): cv.template,
@@ -75,15 +75,15 @@ async def async_setup(hass, config):
             template_payload = command_config[CONF_PAYLOAD]
             template_payload.hass = hass
 
-        headers = None
+        template_headers = None
         if CONF_HEADERS in command_config:
-            headers = command_config[CONF_HEADERS]
+            template_headers = command_config[CONF_HEADERS]
+            for template_header in template_headers.values():
+                template_header.hass = hass
 
+        content_type = None
         if CONF_CONTENT_TYPE in command_config:
             content_type = command_config[CONF_CONTENT_TYPE]
-            if headers is None:
-                headers = {}
-            headers[hdrs.CONTENT_TYPE] = content_type
 
         async def async_service_handler(service):
             """Execute a shell command service."""
@@ -94,6 +94,20 @@ async def async_setup(hass, config):
                 )
 
             request_url = template_url.async_render(variables=service.data)
+
+            headers = None
+            if template_headers:
+                headers = {}
+                for header_name, template_header in template_headers.items():
+                    headers[header_name] = template_header.async_render(
+                        variables=service.data
+                    )
+
+            if content_type:
+                if headers is None:
+                    headers = {}
+                headers[hdrs.CONTENT_TYPE] = content_type
+
             try:
                 async with getattr(websession, method)(
                     request_url,
diff --git a/tests/components/rest_command/test_init.py b/tests/components/rest_command/test_init.py
index b7ac5a4be8a..ba63091041d 100644
--- a/tests/components/rest_command/test_init.py
+++ b/tests/components/rest_command/test_init.py
@@ -236,6 +236,19 @@ class TestRestCommandComponent:
                     },
                     "content_type": "text/plain",
                 },
+                "headers_template_test": {
+                    "headers": {
+                        "Accept": "application/json",
+                        "User-Agent": "Mozilla/{{ 3 + 2 }}.0",
+                    }
+                },
+                "headers_and_content_type_override_template_test": {
+                    "headers": {
+                        "Accept": "application/{{ 1 + 1 }}json",
+                        aiohttp.hdrs.CONTENT_TYPE: "application/pdf",
+                    },
+                    "content_type": "text/json",
+                },
             }
         }
 
@@ -245,7 +258,7 @@ class TestRestCommandComponent:
                 {"url": self.url, "method": "post", "payload": "test data"}
             )
 
-        with assert_setup_component(5):
+        with assert_setup_component(7):
             setup_component(self.hass, rc.DOMAIN, header_config_variations)
 
         # provide post request data
@@ -257,11 +270,13 @@ class TestRestCommandComponent:
             "headers_test",
             "headers_and_content_type_test",
             "headers_and_content_type_override_test",
+            "headers_template_test",
+            "headers_and_content_type_override_template_test",
         ]:
             self.hass.services.call(rc.DOMAIN, test_service, {})
 
         self.hass.block_till_done()
-        assert len(aioclient_mock.mock_calls) == 5
+        assert len(aioclient_mock.mock_calls) == 7
 
         # no_headers_test
         assert aioclient_mock.mock_calls[0][3] is None
@@ -293,3 +308,16 @@ class TestRestCommandComponent:
             == "text/plain"
         )
         assert aioclient_mock.mock_calls[4][3].get("Accept") == "application/json"
+
+        # headers_template_test
+        assert len(aioclient_mock.mock_calls[5][3]) == 2
+        assert aioclient_mock.mock_calls[5][3].get("Accept") == "application/json"
+        assert aioclient_mock.mock_calls[5][3].get("User-Agent") == "Mozilla/5.0"
+
+        # headers_and_content_type_override_template_test
+        assert len(aioclient_mock.mock_calls[6][3]) == 2
+        assert (
+            aioclient_mock.mock_calls[6][3].get(aiohttp.hdrs.CONTENT_TYPE)
+            == "text/json"
+        )
+        assert aioclient_mock.mock_calls[6][3].get("Accept") == "application/2json"