diff --git a/CHANGELOG.md b/CHANGELOG.md
index 9fb99a74e7..4f0dcc3c0b 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -12,6 +12,8 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 - CMake: Permit to explicitly specify Python installation directory by setting the `IDYNTREE_PYTHON_INSTALL_DIR` CMake variable (https://github.com/robotology/idyntree/pull/1124).
 
+- MeshcatVisualizer: Add the possibility to remove a mesh from the visualizer (https://github.com/robotology/idyntree/pull/1138)
+
 ### Fixed
 
 - Fixed compilation of pybind11 bindings (https://github.com/robotology/idyntree/pull/1128).
diff --git a/bindings/python/visualize/meshcat_visualizer.py b/bindings/python/visualize/meshcat_visualizer.py
index 054776452b..32db85a2d0 100644
--- a/bindings/python/visualize/meshcat_visualizer.py
+++ b/bindings/python/visualize/meshcat_visualizer.py
@@ -511,3 +511,19 @@ def load_box(self, x, y, z, shape_name="iDynTree", color=None):
         self.load_primitive_geometry(
             solid_shape=box, shape_name=shape_name, color=color
         )
+
+    def delete(self, shape_name="iDynTree"):
+        if self.__primitive_geometry_exists(shape_name):
+            self.viewer[shape_name].delete()
+            self.primitive_geometries_names.remove(shape_name)
+        elif self.__arrow_exists(shape_name):
+            self.viewer[shape_name].delete()
+            self.arrow_names.remove(shape_name)
+        elif self.__model_exists(shape_name):
+            self.viewer[shape_name].delete()
+            del self.model[shape_name]
+            del self.traversal[shape_name]
+            del self.link_pos[shape_name]
+        else:
+            msg = "The object named: " + name + " does not exist."
+            warnings.warn(msg, category=UserWarning, stacklevel=2)