Background: Telehealth for outpatient palliative care has grown rapidly since the COVID-19 pandemic, yet there remain important questions about the use of telehealth for underserved patient populations in a “postpandemic” society. Objective: To examine current perspectives from interdisciplinary providers on the use of telehealth and in-person care for outpatient palliative care among underserved patients. Methods: We conducted semi-structured interviews with outpatient palliative care providers and clinic staff (n = 17) from one health system in the United States. Results: Providers endorsed tele-palliative care for underserved patients because it enhanced patient-centered care and increased equity. However, providers noted two main challenges to the use of telehealth: technological issues on the part of patients and policies around prescribing controlled substances. Conclusions: Future efforts to improve tele-palliative care for underserved patients may focus on technological and institutional infrastructure to support telehealth and consider policies around prescribing controlled substances for palliative care patients.