According to one embodiment, an apparatus for controlling the heating of diesel exhaust fluid (DEF) in a DEF delivery system includes a temperature comparison module that compares a difference between a sensed ambient air temperature and a sensed DEF tank temperature with a predetermined temperature difference threshold. Additionally, the apparatus includes a DEF heating status module that is configured to generate a DEF heating command according to (i) the sensed ambient air temperature if the difference between the sensed ambient air temperature and sensed DEF tank temperature is less than the predetermined temperature threshold; and (ii) the sensed DEF tank temperature if the difference between the sensed ambient air temperature and sensed DEF tank temperature is more than the predetermined temperature threshold. The apparatus also includes a DEF heating control module that is configured to control the heating of the DEF according to the DEF heating command.