diff --git a/src/cpp/rtps/transport/TCPTransportInterface.cpp b/src/cpp/rtps/transport/TCPTransportInterface.cpp
index 33e421eb4b4..86e8d1dffa6 100644
--- a/src/cpp/rtps/transport/TCPTransportInterface.cpp
+++ b/src/cpp/rtps/transport/TCPTransportInterface.cpp
@@ -1144,6 +1144,55 @@ void TCPTransportInterface::perform_listen_operation(
     }
 
     EPROSIMA_LOG_INFO(RTCP, "End PerformListenOperation " << channel->locator());
+
+    // If we get here, the channel has been disconnected. We might need to clean it up if
+    // the remote endpoint is the one that initiated the disconnection.
+    // We only delete acceptor channels, as connect channels need to be kept in channel_resources_ to restart the connection
+    if (channel && channel->tcp_connection_type() == TCPChannelResource::TCPConnectionType::TCP_ACCEPT_TYPE)
+    {
+        // Defer the erase to io_context_ so the TCPChannelResource destructor runs off the listener thread that is about to exit.
+        // Weak_ptr is used to avoid keeping the channel alive if it has already been removed from the maps by another thread.
+        asio::post(io_context_, [this, channel_weak]()
+                {
+                    auto ch = channel_weak.lock();
+                    if (!ch)
+                    {
+                        return;
+                    }
+                    {
+                        // Channel resources map case
+                        std::unique_lock<std::mutex> scoped_lock(sockets_map_mutex_);
+                        bool erased = false;
+                        // There might be multiple entries with the same channel. Delete them all
+                        for (auto it = channel_resources_.begin(); it != channel_resources_.end(); )
+                        {
+                            if (it->second == ch)
+                            {
+                                it = channel_resources_.erase(it);
+                                erased = true;
+                            }
+                            else
+                            {
+                                ++it;
+                            }
+                        }
+                        if (erased)
+                        {
+                            return;
+                        }
+                    }
+                    // Unbound channel resources map case
+                    std::unique_lock<std::mutex> unbound_lock(unbound_map_mutex_);
+                    auto it = std::find(unbound_channel_resources_.begin(),
+                    unbound_channel_resources_.end(), ch);
+                    if (it != unbound_channel_resources_.end())
+                    {
+                        unbound_channel_resources_.erase(it);
+                    }
+                });
+        // Drop the listener's reference so the destructor cannot run on this thread
+        channel.reset();
+    }
 }
 
 bool TCPTransportInterface::read_body(
diff --git a/test/unittest/transport/TCPv4Tests.cpp b/test/unittest/transport/TCPv4Tests.cpp
index 1bae62093f5..cad15bb9199 100644
--- a/test/unittest/transport/TCPv4Tests.cpp
+++ b/test/unittest/transport/TCPv4Tests.cpp
@@ -2430,6 +2430,62 @@ TEST_F(TCPv4Tests, add_logical_port_on_send_resource_creation)
     }
 }
 
+// This test verifies that TCP channels of type ACCEPT are correctly removed from the channel resources map when
+// the channel is disabled by asio. This is the case when a client disconnects from the server. There is no need
+// maintain the channel resource of a disconnected client because new connections will generate new channel resources
+// and no unbind operation is needed at destruction time for a removed participant (eDisconnected channel).
+TEST_F(TCPv4Tests, remove_stale_channel_resources_of_server)
+{
+    // Server
+    TCPv4TransportDescriptor serverDescriptor;
+    serverDescriptor.add_listener_port(g_default_port);
+    serverDescriptor.keep_alive_frequency_ms = 1000;
+    serverDescriptor.keep_alive_timeout_ms    = 2000;
+    MockTCPv4Transport server(serverDescriptor);
+    ASSERT_TRUE(server.init());
+
+    // Client
+    {
+        TCPv4TransportDescriptor clientDescriptor;
+        auto client = std::unique_ptr<TCPv4Transport>(new TCPv4Transport(clientDescriptor));
+        ASSERT_TRUE(client->init());
+
+        Locator_t outputLocator;
+        outputLocator.kind = LOCATOR_KIND_TCPv4;
+        IPLocator::setIPv4(outputLocator, 127, 0, 0, 1);
+        IPLocator::setPhysicalPort(outputLocator, g_default_port);
+        IPLocator::setLogicalPort(outputLocator, 7410);
+
+        SendResourceList send_resource_list;
+        ASSERT_TRUE(client->OpenOutputChannel(send_resource_list, outputLocator));
+
+        // Wait for the server to finish the BindConnectionRequest handshake
+        auto deadline = std::chrono::steady_clock::now() + std::chrono::seconds(5);
+        while (server.get_channel_resources_size() != 0 &&
+                std::chrono::steady_clock::now() < deadline)
+        {
+            std::this_thread::sleep_for(std::chrono::milliseconds(20));
+        }
+        // Ensure there are channel resources in the server. Bind socket adds an entry per interface available, so there could be more than one.
+        ASSERT_GT(server.get_channel_resources().size(), 0u);
+
+        // Tear down the client: clean send_resource_list and then close the TCP socket.
+        send_resource_list.clear();
+        client.reset();
+    }
+
+    // Check that the server correctly removes the channel resource of type ACCEPT after the client disconnection
+    auto deadline = std::chrono::steady_clock::now() + std::chrono::seconds(10);
+    while (server.get_channel_resources_size() != 0 &&
+            std::chrono::steady_clock::now() < deadline)
+    {
+        std::this_thread::sleep_for(std::chrono::milliseconds(100));
+    }
+    EXPECT_TRUE(server.get_channel_resources().empty());
+    EXPECT_TRUE(server.get_unbound_channel_resources().empty());
+}
+
+
 void TCPv4Tests::HELPER_SetDescriptorDefaults()
 {
     descriptor.add_listener_port(g_default_port);
diff --git a/test/unittest/transport/mock/MockTCPv4Transport.h b/test/unittest/transport/mock/MockTCPv4Transport.h
index c02a26d4ca9..ad2a9eb77a0 100644
--- a/test/unittest/transport/mock/MockTCPv4Transport.h
+++ b/test/unittest/transport/mock/MockTCPv4Transport.h
@@ -40,6 +40,12 @@ class MockTCPv4Transport : public TCPv4Transport
         return channel_resources_;
     }
 
+    size_t get_channel_resources_size() const
+    {
+        std::lock_guard<std::mutex> lock(sockets_map_mutex_);
+        return unbound_channel_resources_.size();
+    }
+
     const std::vector<std::shared_ptr<TCPChannelResource>> get_unbound_channel_resources() const
     {
         return unbound_channel_resources_;