Examples of the present disclosure relate to a headlamp heater for a headlamp assembly. In examples, a headlamp assembly comprises a heating element, which directs radiation toward a lens of the headlamp assembly in order to prevent or remove condensation/precipitation on the lens. In examples, the heating element is an infrared heating element, and the wavelength of radiation emitted by the heating element is selected to be a wavelength that excites water. In some examples, the heating element is angled toward the lens and/or has multiple angled surfaces, thereby altering the radiation pattern that is directed toward the lens such that it better matches the beam pattern of a light source in the headlamp assembly.