diff --git a/src/tyro/_parsers.py b/src/tyro/_parsers.py
index 3b8313a8..329bc04b 100644
--- a/src/tyro/_parsers.py
+++ b/src/tyro/_parsers.py
@@ -240,15 +240,26 @@ def from_callable_or_type(
                 class_field_name = _strings.make_field_name(
                     [intern_prefix, field.intern_name]
                 )
-                if field.helptext is not None:
-                    # Keep lazy - don't evaluate yet.
-                    helptext_from_intern_prefixed_field_name[class_field_name] = (
-                        field.helptext
-                    )
-                else:
-                    helptext_from_intern_prefixed_field_name[class_field_name] = (
-                        _docstrings.get_callable_description(nested_parser.f)
-                    )
+
+                # `field.helptext` can be a callable that returns `None` (for
+                # example, lazy docstring parsing when a field has no attribute
+                # docstring), so the docstring fallback needs to happen after
+                # evaluation. We keep this lazy - don't evaluate yet.
+                def evaluate_group_helptext(
+                    helptext: str | Callable[[], str | None] | None = field.helptext,
+                    f: Callable = nested_parser.f,
+                ) -> str | None:
+                    out = helptext() if callable(helptext) else helptext
+                    if out is None:
+                        # Fall back to the docstring of the nested type. An
+                        # explicit empty string (`tyro.conf.arg(help="")`)
+                        # suppresses this fallback.
+                        out = _docstrings.get_callable_description(f)
+                    return out
+
+                helptext_from_intern_prefixed_field_name[class_field_name] = (
+                    evaluate_group_helptext
+                )
 
                 # If arguments are in an optional group, it indicates that the default_instance
                 # will be used if none of the arguments are passed in.
@@ -276,9 +287,11 @@ def from_callable_or_type(
         )
         if callable(desc):
             desc = desc()
-        # If still None after evaluation, use empty string.
+        # A lazy description can evaluate to None, for example when a nested
+        # field has no attribute docstring. Fall back to the docstring of the
+        # type itself. An explicit empty string suppresses this fallback.
         if desc is None:
-            desc = ""
+            desc = _docstrings.get_callable_description(f)
 
         parser_spec = ParserSpecification(
             f=f,
diff --git a/tests/test_helptext.py b/tests/test_helptext.py
index 5df2447d..3ac035e5 100644
--- a/tests/test_helptext.py
+++ b/tests/test_helptext.py
@@ -1687,3 +1687,123 @@ class FreshForNoPydantic:
         sys.modules.pop("pydantic", None)
         description = _docstrings.get_callable_description(FreshForNoPydantic)
     assert "Docstring for FreshForNoPydantic." in description
+
+
+def test_nested_group_docstring_as_description() -> None:
+    """Class docstrings of nested types should be used as the default group
+    description. https://github.com/brentyi/tyro/issues/483"""
+
+    @dataclasses.dataclass
+    class NestedGroupFromDocstring:
+        """Settings related to workflow execution."""
+
+        cores: int = 1
+
+    @dataclasses.dataclass
+    class ParentOfDocstringGroup:
+        work: NestedGroupFromDocstring = dataclasses.field(
+            default_factory=NestedGroupFromDocstring
+        )
+
+    helptext = get_helptext_with_checks(ParentOfDocstringGroup)
+    assert "Settings related to workflow execution." in helptext
+
+
+def test_nested_group_attribute_docstring_takes_precedence() -> None:
+    """An attribute docstring on the field should override the nested type's
+    class docstring. https://github.com/brentyi/tyro/issues/483"""
+
+    @dataclasses.dataclass
+    class NestedGroupWithClassDoc:
+        """Class-level description."""
+
+        cores: int = 1
+
+    @dataclasses.dataclass
+    class ParentWithAttributeDoc:
+        work: NestedGroupWithClassDoc = dataclasses.field(
+            default_factory=NestedGroupWithClassDoc
+        )
+        """Attribute-level description."""
+
+    helptext = get_helptext_with_checks(ParentWithAttributeDoc)
+    assert "Attribute-level description." in helptext
+    assert "Class-level description." not in helptext
+
+
+def test_nested_group_arg_help_overrides_docstring() -> None:
+    """`tyro.conf.arg(help=...)` should override the nested type's class
+    docstring. https://github.com/brentyi/tyro/issues/483"""
+
+    @dataclasses.dataclass
+    class NestedGroupForArgHelp:
+        """Class-level description."""
+
+        cores: int = 1
+
+    @dataclasses.dataclass
+    class ParentWithArgHelp:
+        work: Annotated[
+            NestedGroupForArgHelp, tyro.conf.arg(help="Explicit description.")
+        ] = dataclasses.field(default_factory=NestedGroupForArgHelp)
+
+    helptext = get_helptext_with_checks(ParentWithArgHelp)
+    assert "Explicit description." in helptext
+    assert "Class-level description." not in helptext
+
+
+def test_nested_group_arg_help_empty_suppresses_docstring() -> None:
+    """An explicit `tyro.conf.arg(help="")` should suppress the nested type's
+    class docstring. https://github.com/brentyi/tyro/issues/483"""
+
+    @dataclasses.dataclass
+    class NestedGroupForEmptyHelp:
+        """Class-level description."""
+
+        cores: int = 1
+
+    @dataclasses.dataclass
+    class ParentWithEmptyHelp:
+        work: Annotated[NestedGroupForEmptyHelp, tyro.conf.arg(help="")] = (
+            dataclasses.field(default_factory=NestedGroupForEmptyHelp)
+        )
+
+    helptext = get_helptext_with_checks(ParentWithEmptyHelp)
+    assert "Class-level description." not in helptext
+
+
+def test_nested_group_no_docstring() -> None:
+    """A nested dataclass without a docstring should not leak the
+    autogenerated `Name(field: type)` docstring into the group description.
+    https://github.com/brentyi/tyro/issues/483"""
+
+    @dataclasses.dataclass
+    class NestedGroupNoDocstring:
+        cores: int = 1
+
+    @dataclasses.dataclass
+    class ParentOfNoDocstringGroup:
+        work: NestedGroupNoDocstring = dataclasses.field(
+            default_factory=NestedGroupNoDocstring
+        )
+
+    helptext = get_helptext_with_checks(ParentOfNoDocstringGroup)
+    assert "NestedGroupNoDocstring(" not in helptext
+
+
+def test_nested_group_docstring_required_field() -> None:
+    """The class docstring fallback should also apply when the nested field is
+    required. https://github.com/brentyi/tyro/issues/483"""
+
+    @dataclasses.dataclass
+    class NestedGroupRequired:
+        """Settings for a required group."""
+
+        cores: int
+
+    @dataclasses.dataclass
+    class ParentOfRequiredGroup:
+        work: NestedGroupRequired
+
+    helptext = get_helptext_with_checks(ParentOfRequiredGroup)
+    assert "Settings for a required group." in helptext
diff --git a/tests/test_py311_generated/test_helptext_generated.py b/tests/test_py311_generated/test_helptext_generated.py
index 1d57200a..5ad0b346 100644
--- a/tests/test_py311_generated/test_helptext_generated.py
+++ b/tests/test_py311_generated/test_helptext_generated.py
@@ -1687,3 +1687,123 @@ class FreshForNoPydantic:
         sys.modules.pop("pydantic", None)
         description = _docstrings.get_callable_description(FreshForNoPydantic)
     assert "Docstring for FreshForNoPydantic." in description
+
+
+def test_nested_group_docstring_as_description() -> None:
+    """Class docstrings of nested types should be used as the default group
+    description. https://github.com/brentyi/tyro/issues/483"""
+
+    @dataclasses.dataclass
+    class NestedGroupFromDocstring:
+        """Settings related to workflow execution."""
+
+        cores: int = 1
+
+    @dataclasses.dataclass
+    class ParentOfDocstringGroup:
+        work: NestedGroupFromDocstring = dataclasses.field(
+            default_factory=NestedGroupFromDocstring
+        )
+
+    helptext = get_helptext_with_checks(ParentOfDocstringGroup)
+    assert "Settings related to workflow execution." in helptext
+
+
+def test_nested_group_attribute_docstring_takes_precedence() -> None:
+    """An attribute docstring on the field should override the nested type's
+    class docstring. https://github.com/brentyi/tyro/issues/483"""
+
+    @dataclasses.dataclass
+    class NestedGroupWithClassDoc:
+        """Class-level description."""
+
+        cores: int = 1
+
+    @dataclasses.dataclass
+    class ParentWithAttributeDoc:
+        work: NestedGroupWithClassDoc = dataclasses.field(
+            default_factory=NestedGroupWithClassDoc
+        )
+        """Attribute-level description."""
+
+    helptext = get_helptext_with_checks(ParentWithAttributeDoc)
+    assert "Attribute-level description." in helptext
+    assert "Class-level description." not in helptext
+
+
+def test_nested_group_arg_help_overrides_docstring() -> None:
+    """`tyro.conf.arg(help=...)` should override the nested type's class
+    docstring. https://github.com/brentyi/tyro/issues/483"""
+
+    @dataclasses.dataclass
+    class NestedGroupForArgHelp:
+        """Class-level description."""
+
+        cores: int = 1
+
+    @dataclasses.dataclass
+    class ParentWithArgHelp:
+        work: Annotated[
+            NestedGroupForArgHelp, tyro.conf.arg(help="Explicit description.")
+        ] = dataclasses.field(default_factory=NestedGroupForArgHelp)
+
+    helptext = get_helptext_with_checks(ParentWithArgHelp)
+    assert "Explicit description." in helptext
+    assert "Class-level description." not in helptext
+
+
+def test_nested_group_arg_help_empty_suppresses_docstring() -> None:
+    """An explicit `tyro.conf.arg(help="")` should suppress the nested type's
+    class docstring. https://github.com/brentyi/tyro/issues/483"""
+
+    @dataclasses.dataclass
+    class NestedGroupForEmptyHelp:
+        """Class-level description."""
+
+        cores: int = 1
+
+    @dataclasses.dataclass
+    class ParentWithEmptyHelp:
+        work: Annotated[NestedGroupForEmptyHelp, tyro.conf.arg(help="")] = (
+            dataclasses.field(default_factory=NestedGroupForEmptyHelp)
+        )
+
+    helptext = get_helptext_with_checks(ParentWithEmptyHelp)
+    assert "Class-level description." not in helptext
+
+
+def test_nested_group_no_docstring() -> None:
+    """A nested dataclass without a docstring should not leak the
+    autogenerated `Name(field: type)` docstring into the group description.
+    https://github.com/brentyi/tyro/issues/483"""
+
+    @dataclasses.dataclass
+    class NestedGroupNoDocstring:
+        cores: int = 1
+
+    @dataclasses.dataclass
+    class ParentOfNoDocstringGroup:
+        work: NestedGroupNoDocstring = dataclasses.field(
+            default_factory=NestedGroupNoDocstring
+        )
+
+    helptext = get_helptext_with_checks(ParentOfNoDocstringGroup)
+    assert "NestedGroupNoDocstring(" not in helptext
+
+
+def test_nested_group_docstring_required_field() -> None:
+    """The class docstring fallback should also apply when the nested field is
+    required. https://github.com/brentyi/tyro/issues/483"""
+
+    @dataclasses.dataclass
+    class NestedGroupRequired:
+        """Settings for a required group."""
+
+        cores: int
+
+    @dataclasses.dataclass
+    class ParentOfRequiredGroup:
+        work: NestedGroupRequired
+
+    helptext = get_helptext_with_checks(ParentOfRequiredGroup)
+    assert "Settings for a required group." in helptext
diff --git a/tests/test_py311_generated/test_pydantic_generated.py b/tests/test_py311_generated/test_pydantic_generated.py
index 70dfca41..fc97a3a3 100644
--- a/tests/test_py311_generated/test_pydantic_generated.py
+++ b/tests/test_py311_generated/test_pydantic_generated.py
@@ -263,3 +263,21 @@ class PydanticDataclassConfig:
     )
     assert config3.in_channel == 0
     assert config3.out_channel == 7
+
+
+def test_nested_model_docstring_as_group_description() -> None:
+    """Class docstrings of nested models should be used as the default group
+    description. https://github.com/brentyi/tyro/issues/483"""
+
+    class DownsamplingConfig(BaseModel):
+        """Settings related to downsampling."""
+
+        ksize: int = 25
+        depth: int = 100
+
+    class Workflow(BaseModel):
+        indir: pathlib.Path = pathlib.Path("/tmp")
+        down: DownsamplingConfig = DownsamplingConfig()
+
+    helptext = get_helptext_with_checks(Workflow)
+    assert "Settings related to downsampling." in helptext
diff --git a/tests/test_pydantic.py b/tests/test_pydantic.py
index aa983697..b10cb7fb 100644
--- a/tests/test_pydantic.py
+++ b/tests/test_pydantic.py
@@ -264,3 +264,21 @@ class PydanticDataclassConfig:
     )
     assert config3.in_channel == 0
     assert config3.out_channel == 7
+
+
+def test_nested_model_docstring_as_group_description() -> None:
+    """Class docstrings of nested models should be used as the default group
+    description. https://github.com/brentyi/tyro/issues/483"""
+
+    class DownsamplingConfig(BaseModel):
+        """Settings related to downsampling."""
+
+        ksize: int = 25
+        depth: int = 100
+
+    class Workflow(BaseModel):
+        indir: pathlib.Path = pathlib.Path("/tmp")
+        down: DownsamplingConfig = DownsamplingConfig()
+
+    helptext = get_helptext_with_checks(Workflow)
+    assert "Settings related to downsampling." in helptext