diff --git a/docs/api.rst b/docs/api.rst
index b573396c1..b2ff6cf4a 100644
--- a/docs/api.rst
+++ b/docs/api.rst
@@ -941,6 +941,7 @@ Functions
 .. autocfunction:: primitives.h::z_delete
 
 .. autocfunction:: primitives.h::z_declare_publisher
+.. autocfunction:: primitives.h::z_undeclare_publisher
 .. autocfunction:: primitives.h::z_publisher_put
 .. autocfunction:: primitives.h::z_publisher_delete
 .. autocfunction:: primitives.h::z_publisher_keyexpr
@@ -983,6 +984,7 @@ Functions
 ---------
 
 .. autocfunction:: primitives.h::z_declare_subscriber
+.. autocfunction:: primitives.h::z_undeclare_subscriber
 .. autocfunction:: primitives.h::z_declare_background_subscriber
 
 .. autocfunction:: primitives.h::z_subscriber_options_default
@@ -1028,6 +1030,7 @@ Option Types
 Functions
 ---------
 .. autocfunction:: primitives.h::z_declare_queryable
+.. autocfunction:: primitives.h::z_undeclare_queryable
 .. autocfunction:: primitives.h::z_declare_background_queryable
 
 .. autocfunction:: primitives.h::z_queryable_options_default
diff --git a/include/zenoh-pico/api/primitives.h b/include/zenoh-pico/api/primitives.h
index 4e4d84b87..b04c41912 100644
--- a/include/zenoh-pico/api/primitives.h
+++ b/include/zenoh-pico/api/primitives.h
@@ -1580,6 +1580,17 @@ void z_publisher_options_default(z_publisher_options_t *options);
 z_result_t z_declare_publisher(const z_loaned_session_t *zs, z_owned_publisher_t *pub,
                                const z_loaned_keyexpr_t *keyexpr, const z_publisher_options_t *options);
 
+/**
+ * Undeclares the publisher.
+ *
+ * Parameters:
+ *   pub: Moved :c:type:`z_owned_publisher_t` to undeclare.
+ *
+ * Return:
+ *   ``0`` if undeclare is successful, ``negative value`` otherwise.
+ */
+z_result_t z_undeclare_publisher(z_moved_publisher_t *pub);
+
 /**
  * Builds a :c:type:`z_publisher_put_options_t` with default values.
  *
@@ -1734,6 +1745,17 @@ z_result_t z_declare_queryable(const z_loaned_session_t *zs, z_owned_queryable_t
                                const z_loaned_keyexpr_t *keyexpr, z_moved_closure_query_t *callback,
                                const z_queryable_options_t *options);
 
+/**
+ * Undeclares the queryable.
+ *
+ * Parameters:
+ *   pub: Moved :c:type:`z_owned_queryable_t` to undeclare.
+ *
+ * Return:
+ *   ``0`` if undeclare is successful, ``negative value`` otherwise.
+ */
+z_result_t z_undeclare_queryable(z_moved_queryable_t *pub);
+
 /**
  * Declares a background queryable for a given keyexpr. The queryable callback will be called
  * to proccess incoming queries until the corresponding session is closed or dropped.
@@ -1995,6 +2017,17 @@ z_result_t z_declare_subscriber(const z_loaned_session_t *zs, z_owned_subscriber
                                 const z_loaned_keyexpr_t *keyexpr, z_moved_closure_sample_t *callback,
                                 const z_subscriber_options_t *options);
 
+/**
+ * Undeclares the subscriber.
+ *
+ * Parameters:
+ *   pub: Moved :c:type:`z_owned_subscriber_t` to undeclare.
+ *
+ * Return:
+ *   ``0`` if undeclare is successful, ``negative value`` otherwise.
+ */
+z_result_t z_undeclare_subscriber(z_moved_subscriber_t *pub);
+
 /**
  * Declares a background subscriber for a given keyexpr. Subscriber callback will be called to process the messages,
  * until the corresponding session is closed or dropped.
diff --git a/src/api/api.c b/src/api/api.c
index 6abdb962b..489b78638 100644
--- a/src/api/api.c
+++ b/src/api/api.c
@@ -913,6 +913,12 @@ z_result_t z_declare_publisher(const z_loaned_session_t *zs, z_owned_publisher_t
     return _Z_RES_OK;
 }
 
+z_result_t z_undeclare_publisher(z_moved_publisher_t *pub) {
+    z_result_t ret = _z_undeclare_publisher(&pub->_this._val);
+    _z_publisher_clear(&pub->_this._val);
+    return ret;
+}
+
 void z_publisher_put_options_default(z_publisher_put_options_t *options) {
     options->encoding = NULL;
     options->attachment = NULL;
@@ -1144,6 +1150,12 @@ z_result_t z_declare_queryable(const z_loaned_session_t *zs, z_owned_queryable_t
     return _Z_RES_OK;
 }
 
+z_result_t z_undeclare_queryable(z_moved_queryable_t *queryable) {
+    z_result_t ret = _z_undeclare_queryable(&queryable->_this._val);
+    _z_queryable_clear(&queryable->_this._val);
+    return ret;
+}
+
 void z_query_reply_options_default(z_query_reply_options_t *options) {
     options->encoding = NULL;
     options->congestion_control = Z_CONGESTION_CONTROL_DEFAULT;
@@ -1375,6 +1387,12 @@ z_result_t z_declare_subscriber(const z_loaned_session_t *zs, z_owned_subscriber
     }
 }
 
+z_result_t z_undeclare_subscriber(z_moved_subscriber_t *sub) {
+    z_result_t ret = _z_undeclare_subscriber(&sub->_this._val);
+    _z_subscriber_clear(&sub->_this._val);
+    return ret;
+}
+
 const z_loaned_keyexpr_t *z_subscriber_keyexpr(const z_loaned_subscriber_t *sub) {
     // Retrieve keyexpr from session
     uint32_t lookup = sub->_entity_id;