Heaven worship is a Chinese religious belief that predates Taoism and Confucianism, but was later incorporated into both.

The Ancient Chinese believed in a non-corporeal entity called Shangdi, an omnipotent, just, and monotheistic^{[citation needed]}supreme being.^{[citation needed]} Over time, Shangdi became synonymous with Tian (天 lit. "sky"), or Heaven. The worship of Heaven is highly ritualistic and requires that the emperor hold official sacrifices and worship at an altar of Heaven, the most famous of which is the Temple of Heaven in Beijing. Idols are not permitted in Heaven worship.^{[citation needed]}

Heaven worship is closely linked with ancestor veneration, as the ancestors are seen as a medium between Heaven and man. The Emperor of China, also known as the "Son of Heaven", derived the Mandate of Heaven, and thus his legitimacy as ruler, from his supposed ability to commune with Heaven on behalf of his nation.

The Qing dynasty Yongzheng emperor was firmly against Christian converts among his own Manchu people. He warned them that the Manchus must follow only the Manchu way of worshipping Heaven since different peoples worshipped Heaven differently. Yongzheng stated: "The Lord of Heaven is Heaven itself. . . . In the empire we have a temple for honoring Heaven and sacrificing to Him. We Manchus have Tiao Tchin. The first day of every year we burn incense and paper to honor Heaven. We Manchus have our own particular rites for honoring Heaven; the Mongols, Chinese, Russians, and Europeans also have their own particular rites for honoring Heaven. I have never said that he [Urcen, a son of Sun] could not honor heaven but that everyone has his way of doing it. As a Manchu, Urcen should do it like us."