diff --git a/README.md b/README.md
index 124c488..9fb3227 100644
--- a/README.md
+++ b/README.md
@@ -97,6 +97,7 @@ This creates two binaries in `bin/`:
 |---------|-------------|
 | `map up [-f]` | Start the daemon (foreground with -f) |
 | `map down [-f]` | Stop the daemon (force immediate shutdown with -f) |
+| `map clean` | Clean up orphaned processes, tmux sessions, and socket files |
 | `map watch` | Stream real-time events from the daemon |
 
 ### Agent Management
diff --git a/internal/cli/clean.go b/internal/cli/clean.go
new file mode 100644
index 0000000..e762904
--- /dev/null
+++ b/internal/cli/clean.go
@@ -0,0 +1,125 @@
+package cli
+
+import (
+	"fmt"
+	"os"
+	"os/exec"
+	"strconv"
+	"strings"
+
+	"github.com/pmarsceill/mapcli/internal/daemon"
+	"github.com/spf13/cobra"
+)
+
+var cleanCmd = &cobra.Command{
+	Use:   "clean",
+	Short: "Clean up orphaned processes and resources",
+	Long: `Clean up orphaned mapd processes, tmux sessions, and socket files.
+
+This is useful when the daemon didn't shut down cleanly and left behind
+stale processes or socket files that prevent starting a new daemon.`,
+	RunE: runClean,
+}
+
+func init() {
+	rootCmd.AddCommand(cleanCmd)
+}
+
+func runClean(cmd *cobra.Command, args []string) error {
+	var cleaned bool
+
+	// 1. Kill orphaned mapd/map processes
+	killedProcs, err := killOrphanedProcesses()
+	if err != nil {
+		fmt.Printf("warning: error killing processes: %v\n", err)
+	}
+	if killedProcs > 0 {
+		fmt.Printf("killed %d orphaned process(es)\n", killedProcs)
+		cleaned = true
+	}
+
+	// 2. Kill orphaned tmux sessions
+	killedSessions, err := killOrphanedTmuxSessions()
+	if err != nil {
+		fmt.Printf("warning: error killing tmux sessions: %v\n", err)
+	}
+	if killedSessions > 0 {
+		fmt.Printf("killed %d orphaned tmux session(s)\n", killedSessions)
+		cleaned = true
+	}
+
+	// 3. Remove socket file if it exists
+	if _, err := os.Stat(socketPath); err == nil {
+		if err := os.Remove(socketPath); err != nil {
+			fmt.Printf("warning: failed to remove socket %s: %v\n", socketPath, err)
+		} else {
+			fmt.Printf("removed socket %s\n", socketPath)
+			cleaned = true
+		}
+	}
+
+	if !cleaned {
+		fmt.Println("nothing to clean")
+	}
+
+	return nil
+}
+
+// killOrphanedProcesses finds and kills mapd and map processes
+func killOrphanedProcesses() (int, error) {
+	// Get current process ID to avoid killing ourselves
+	currentPID := os.Getpid()
+
+	// Find mapd and map processes using pgrep
+	output, err := exec.Command("pgrep", "-f", "mapd|map up").Output()
+	if err != nil {
+		// pgrep returns exit code 1 when no processes found
+		if exitErr, ok := err.(*exec.ExitError); ok && exitErr.ExitCode() == 1 {
+			return 0, nil
+		}
+		return 0, err
+	}
+
+	var killed int
+	for line := range strings.SplitSeq(strings.TrimSpace(string(output)), "\n") {
+		if line == "" {
+			continue
+		}
+		pid, err := strconv.Atoi(line)
+		if err != nil {
+			continue
+		}
+		// Don't kill ourselves
+		if pid == currentPID {
+			continue
+		}
+		// Kill the process
+		proc, err := os.FindProcess(pid)
+		if err != nil {
+			continue
+		}
+		if err := proc.Kill(); err == nil {
+			killed++
+		}
+	}
+
+	return killed, nil
+}
+
+// killOrphanedTmuxSessions kills map-agent-* tmux sessions
+func killOrphanedTmuxSessions() (int, error) {
+	sessions, err := daemon.ListTmuxSessions()
+	if err != nil {
+		return 0, err
+	}
+
+	var killed int
+	for _, session := range sessions {
+		cmd := exec.Command("tmux", "kill-session", "-t", session)
+		if err := cmd.Run(); err == nil {
+			killed++
+		}
+	}
+
+	return killed, nil
+}