diff --git a/python/pyspark/sql/tests/arrow/test_arrow.py b/python/pyspark/sql/tests/arrow/test_arrow.py
index a29408980faba..76a29afd4063e 100644
--- a/python/pyspark/sql/tests/arrow/test_arrow.py
+++ b/python/pyspark/sql/tests/arrow/test_arrow.py
@@ -1853,6 +1853,41 @@ def test_toArrow_with_compression_codec_large_dataset(self):
                     self.assertEqual(t.num_rows, 10000)
                     self.assertEqual(t.column_names, ["id", "str_col", "mod_col"])
 
+    def test_toPandas_double_nested_array_empty_outer(self):
+        schema = StructType([StructField("data", ArrayType(ArrayType(StringType())))])
+        df = self.spark.createDataFrame([Row(data=[])], schema=schema)
+        pdf = df.toPandas()
+        self.assertEqual(len(pdf), 1)
+        self.assertEqual(len(pdf["data"][0]), 0)
+
+    def test_toPandas_array_of_map_empty_outer(self):
+        schema = StructType([StructField("data", ArrayType(MapType(StringType(), StringType())))])
+        df = self.spark.createDataFrame([Row(data=[])], schema=schema)
+        pdf = df.toPandas()
+        self.assertEqual(len(pdf), 1)
+        self.assertEqual(len(pdf["data"][0]), 0)
+
+    def test_toPandas_triple_nested_array_empty_outer(self):
+        # SPARK-55056: This triggers SIGSEGV without the fix.
+        # When the outer array is empty, the second-level ArrayWriter is never
+        # invoked, so its count stays 0. Arrow format requires ListArray offset
+        # buffer to have N+1 entries even when N=0, but getBufferSizeFor(0)
+        # returns 0 and the buffer is omitted in IPC serialization.
+        schema = StructType([StructField("data", ArrayType(ArrayType(ArrayType(StringType()))))])
+        df = self.spark.createDataFrame([Row(data=[])], schema=schema)
+        pdf = df.toPandas()
+        self.assertEqual(len(pdf), 1)
+        self.assertEqual(len(pdf["data"][0]), 0)
+
+    def test_toPandas_nested_array_with_map_empty_outer(self):
+        schema = StructType(
+            [StructField("data", ArrayType(ArrayType(MapType(StringType(), StringType()))))]
+        )
+        df = self.spark.createDataFrame([Row(data=[])], schema=schema)
+        pdf = df.toPandas()
+        self.assertEqual(len(pdf), 1)
+        self.assertEqual(len(pdf["data"][0]), 0)
+
 
 @unittest.skipIf(
     not have_pandas or not have_pyarrow,
diff --git a/sql/catalyst/src/main/scala/org/apache/spark/sql/execution/arrow/ArrowWriter.scala b/sql/catalyst/src/main/scala/org/apache/spark/sql/execution/arrow/ArrowWriter.scala
index 8d68e74dbf874..cb7e407cf819d 100644
--- a/sql/catalyst/src/main/scala/org/apache/spark/sql/execution/arrow/ArrowWriter.scala
+++ b/sql/catalyst/src/main/scala/org/apache/spark/sql/execution/arrow/ArrowWriter.scala
@@ -387,6 +387,11 @@ private[arrow] class ArrayWriter(
     val valueVector: ListVector,
     val elementWriter: ArrowFieldWriter) extends ArrowFieldWriter {
 
+  // SPARK-55056: Arrow format requires ListArray offset buffer to have N+1 entries.
+  // Even when N=0, the buffer must contain [0]. Initialize offset buffer at construction
+  // to ensure it exists even if no elements are written.
+  valueVector.getOffsetBuffer.setInt(0, 0)
+
   override def setNull(): Unit = {
   }
 
@@ -408,6 +413,8 @@ private[arrow] class ArrayWriter(
 
   override def reset(): Unit = {
     super.reset()
+    // Re-initialize offset buffer after reset (see constructor comment)
+    valueVector.getOffsetBuffer.setInt(0, 0)
     elementWriter.reset()
   }
 }
diff --git a/sql/core/src/test/scala/org/apache/spark/sql/execution/arrow/ArrowWriterSuite.scala b/sql/core/src/test/scala/org/apache/spark/sql/execution/arrow/ArrowWriterSuite.scala
index 2c0c0494bbacf..bb8b8bc28e06b 100644
--- a/sql/core/src/test/scala/org/apache/spark/sql/execution/arrow/ArrowWriterSuite.scala
+++ b/sql/core/src/test/scala/org/apache/spark/sql/execution/arrow/ArrowWriterSuite.scala
@@ -875,4 +875,46 @@ class ArrowWriterSuite extends SparkFunSuite {
     assert(map2.keyArray().array().mkString(",") == Array(1).mkString(","))
     assert(stringRepr(map2) == Array("bob", "40").mkString(","))
   }
+
+  test("SPARK-55056: triple nested array with empty outer array") {
+    // Schema: array<array<array<string>>>
+    // This triggers SIGSEGV without the fix. When the outer array is empty,
+    // the second-level ArrayWriter is never invoked, so its count stays 0.
+    // Arrow format requires ListArray offset buffer to have N+1 entries even
+    // when N=0, but getBufferSizeFor(0) returns 0 and the buffer is omitted.
+    val schema = new StructType()
+      .add("data", ArrayType(ArrayType(ArrayType(StringType))))
+    val writer = ArrowWriter.create(schema, null)
+    assert(writer.schema === schema)
+
+    // Write a row with an empty outer array
+    writer.write(InternalRow(ArrayData.toArrayData(Array.empty)))
+    writer.finish()
+
+    val reader = new ArrowColumnVector(writer.root.getFieldVectors().get(0))
+    val array0 = reader.getArray(0)
+    assert(array0.numElements() === 0)
+
+    writer.root.close()
+  }
+
+  test("SPARK-55056: nested array with map inside empty outer array") {
+    // Schema: array<array<map<string, string>>>
+    // Regression test - two-level array with map does not trigger the issue,
+    // but we keep this test to ensure the fix doesn't break normal cases.
+    val schema = new StructType()
+      .add("data", ArrayType(ArrayType(MapType(StringType, StringType))))
+    val writer = ArrowWriter.create(schema, null)
+    assert(writer.schema === schema)
+
+    // Write a row with an empty outer array
+    writer.write(InternalRow(ArrayData.toArrayData(Array.empty)))
+    writer.finish()
+
+    val reader = new ArrowColumnVector(writer.root.getFieldVectors().get(0))
+    val array0 = reader.getArray(0)
+    assert(array0.numElements() === 0)
+
+    writer.root.close()
+  }
 }