diff --git a/crates/bevy_render/src/camera/visible_entities.rs b/crates/bevy_render/src/camera/visible_entities.rs
index 775f0dc58e10e..e595361adfb1b 100644
--- a/crates/bevy_render/src/camera/visible_entities.rs
+++ b/crates/bevy_render/src/camera/visible_entities.rs
@@ -1,9 +1,10 @@
 use super::{Camera, DepthCalculation};
 use crate::Draw;
 use bevy_core::FloatOrd;
-use bevy_ecs::{Entity, Query, With};
+use bevy_ecs::{Entity, Query, With, Without};
+use bevy_math::Vec3;
 use bevy_property::Properties;
-use bevy_transform::prelude::GlobalTransform;
+use bevy_transform::prelude::{Children, GlobalTransform, Parent};
 
 #[derive(Debug)]
 pub struct VisibleEntity {
@@ -25,8 +26,8 @@ impl VisibleEntities {
 
 pub fn visible_entities_system(
     mut camera_query: Query<(&Camera, &GlobalTransform, &mut VisibleEntities)>,
-    draw_query: Query<(Entity, &Draw)>,
-    draw_transform_query: Query<&GlobalTransform, With<Draw>>,
+    draw_orphan_query: Query<Entity, (Without<Parent>, With<Draw>)>,
+    draw_query: Query<(Entity, &Draw, Option<&Children>, Option<&GlobalTransform>)>,
 ) {
     for (camera, camera_global_transform, mut visible_entities) in camera_query.iter_mut() {
         visible_entities.value.clear();
@@ -34,29 +35,16 @@ pub fn visible_entities_system(
 
         let mut no_transform_order = 0.0;
         let mut transparent_entities = Vec::new();
-        for (entity, draw) in draw_query.iter() {
-            if !draw.is_visible {
-                continue;
-            }
-
-            let order = if let Ok(global_transform) = draw_transform_query.get(entity) {
-                let position = global_transform.translation;
-                // smaller distances are sorted to lower indices by using the distance from the camera
-                FloatOrd(match camera.depth_calculation {
-                    DepthCalculation::ZDifference => camera_position.z() - position.z(),
-                    DepthCalculation::Distance => (camera_position - position).length(),
-                })
-            } else {
-                let order = FloatOrd(no_transform_order);
-                no_transform_order += 0.1;
-                order
-            };
-
-            if draw.is_transparent {
-                transparent_entities.push(VisibleEntity { entity, order })
-            } else {
-                visible_entities.value.push(VisibleEntity { entity, order })
-            }
+        for entity in draw_orphan_query.iter() {
+            recursive_draw_check(
+                &draw_query,
+                entity,
+                camera,
+                camera_position,
+                &mut no_transform_order,
+                &mut transparent_entities,
+                &mut visible_entities,
+            );
         }
 
         // sort opaque entities front-to-back
@@ -69,3 +57,57 @@ pub fn visible_entities_system(
         // TODO: check for big changes in visible entities len() vs capacity() (ex: 2x) and resize to prevent holding unneeded memory
     }
 }
+
+/// Checks if an object is visible, and recursively checks the object's children.
+fn recursive_draw_check(
+    draw_query: &Query<(Entity, &Draw, Option<&Children>, Option<&GlobalTransform>)>,
+    entity: Entity,
+    camera: &Camera,
+    camera_position: Vec3,
+    no_transform_order: &mut f32,
+    transparent_entities: &mut Vec<VisibleEntity>,
+    visible_entities: &mut VisibleEntities,
+) {
+    let (entity, draw, children, global_transform) = if let Ok(result) = draw_query.get(entity) {
+        result
+    } else {
+        return;
+    };
+
+    if !draw.is_visible {
+        return;
+    }
+
+    let order = if let Some(global_transform) = global_transform {
+        let position = global_transform.translation;
+        // smaller distances are sorted to lower indices by using the distance from the camera
+        FloatOrd(match camera.depth_calculation {
+            DepthCalculation::ZDifference => camera_position.z() - position.z(),
+            DepthCalculation::Distance => (camera_position - position).length(),
+        })
+    } else {
+        let order = FloatOrd(*no_transform_order);
+        *no_transform_order += 0.1;
+        order
+    };
+
+    if draw.is_transparent {
+        transparent_entities.push(VisibleEntity { entity, order })
+    } else {
+        visible_entities.value.push(VisibleEntity { entity, order })
+    }
+
+    if let Some(children) = children {
+        for child in children.iter() {
+            recursive_draw_check(
+                draw_query,
+                *child,
+                camera,
+                camera_position,
+                no_transform_order,
+                transparent_entities,
+                visible_entities,
+            )
+        }
+    }
+}