diff --git a/docs/api.rst b/docs/api.rst
index dacbf7dee..a955768c7 100644
--- a/docs/api.rst
+++ b/docs/api.rst
@@ -545,6 +545,7 @@ Functions
 ---------
 
 .. doxygenfunction:: zc_matching_listener_drop
+.. doxygenfunction:: zc_matching_listener_undeclare
 .. doxygenfunction:: zc_closure_matching_status_drop
 .. doxygenfunction:: zc_closure_matching_status_loan
 .. doxygenfunction:: zc_closure_matching_status_call
diff --git a/include/zenoh_commons.h b/include/zenoh_commons.h
index d6dfc5672..6089e8709 100644
--- a/include/zenoh_commons.h
+++ b/include/zenoh_commons.h
@@ -5333,6 +5333,15 @@ void zc_stop_z_runtime(void);
  */
 ZENOHC_API
 void zc_try_init_log_from_env(void);
+/**
+ * @warning This API has been marked as unstable: it works as advertised, but it may be changed in a future release.
+ * @brief Undeclares the given matching listener, droping and invalidating it.
+ * @return 0 in case of success, negative error code otherwise.
+ */
+#if defined(Z_FEATURE_UNSTABLE_API)
+ZENOHC_API
+z_result_t zc_undeclare_matching_listener(zc_moved_matching_listener_t *this_);
+#endif
 /**
  * @warning This API has been marked as unstable: it works as advertised, but it may be changed in a future release.
  * @brief Declares a background publication cache. It will function in background until the corresponding session is closed or dropped.
diff --git a/src/matching.rs b/src/matching.rs
index d66613ab6..7223d85bd 100644
--- a/src/matching.rs
+++ b/src/matching.rs
@@ -14,10 +14,13 @@
 
 use std::mem::MaybeUninit;
 
-use zenoh::matching::MatchingListener;
+use zenoh::{matching::MatchingListener, Wait};
 
 pub use crate::opaque_types::{zc_moved_matching_listener_t, zc_owned_matching_listener_t};
-use crate::transmute::{RustTypeRef, RustTypeRefUninit, TakeRustType};
+use crate::{
+    result,
+    transmute::{RustTypeRef, RustTypeRefUninit, TakeRustType},
+};
 decl_c_type!(
     owned(zc_owned_matching_listener_t, option MatchingListener<()>),
 );
@@ -56,3 +59,20 @@ pub struct zc_matching_status_t {
 pub extern "C" fn zc_matching_listener_drop(this: &mut zc_moved_matching_listener_t) {
     std::mem::drop(this.take_rust_type())
 }
+
+/// @warning This API has been marked as unstable: it works as advertised, but it may be changed in a future release.
+/// @brief Undeclares the given matching listener, droping and invalidating it.
+/// @return 0 in case of success, negative error code otherwise.
+#[no_mangle]
+#[allow(clippy::missing_safety_doc)]
+pub extern "C" fn zc_undeclare_matching_listener(
+    this: &mut zc_moved_matching_listener_t,
+) -> result::z_result_t {
+    if let Some(m) = this.take_rust_type() {
+        if let Err(e) = m.undeclare().wait() {
+            tracing::error!("{}", e);
+            return result::Z_ENETWORK;
+        }
+    }
+    result::Z_OK
+}
diff --git a/src/querier.rs b/src/querier.rs
index 7b0a8fe5d..df4c0a287 100644
--- a/src/querier.rs
+++ b/src/querier.rs
@@ -391,8 +391,8 @@ pub extern "C" fn z_querier_drop(this: &mut z_moved_querier_t) {
 ///
 /// @return 0 in case of success, negative error code otherwise.
 pub extern "C" fn z_undeclare_querier(this_: &mut z_moved_querier_t) -> result::z_result_t {
-    if let Some(p) = this_.take_rust_type() {
-        if let Err(e) = p.undeclare().wait() {
+    if let Some(q) = this_.take_rust_type() {
+        if let Err(e) = q.undeclare().wait() {
             tracing::error!("{}", e);
             return result::Z_ENETWORK;
         }