diff --git a/lib/index.ts b/lib/index.ts
index d9b6a090a7..1b7e54c3c6 100644
--- a/lib/index.ts
+++ b/lib/index.ts
@@ -98,6 +98,11 @@ interface ServerOptions extends EngineOptions, AttachOptions {
      */
     skipMiddlewares?: boolean;
   };
+  /**
+   * Whether to remove child namespaces that have no sockets connected to them
+   * @default false
+   */
+  cleanupEmptyChildNamespaces: boolean;
 }
 
 /**
@@ -243,6 +248,7 @@ export class Server<
     } else {
       this.adapter(opts.adapter || Adapter);
     }
+    opts.cleanupEmptyChildNamespaces = !!opts.cleanupEmptyChildNamespaces;
     this.sockets = this.of("/");
     if (srv || typeof srv == "number")
       this.attach(
@@ -250,6 +256,10 @@ export class Server<
       );
   }
 
+  get _opts() {
+    return this.opts;
+  }
+
   /**
    * Sets/gets whether client code is being served.
    *
diff --git a/lib/parent-namespace.ts b/lib/parent-namespace.ts
index c8bd56becd..1206f6ccc5 100644
--- a/lib/parent-namespace.ts
+++ b/lib/parent-namespace.ts
@@ -7,6 +7,9 @@ import type {
   DefaultEventsMap,
 } from "./typed-events";
 import type { BroadcastOptions } from "socket.io-adapter";
+import debugModule from "debug";
+
+const debug = debugModule("socket.io:parent-namespace");
 
 export class ParentNamespace<
   ListenEvents extends EventsMap = DefaultEventsMap,
@@ -52,6 +55,7 @@ export class ParentNamespace<
   createChild(
     name: string
   ): Namespace<ListenEvents, EmitEvents, ServerSideEvents, SocketData> {
+    debug("creating child namespace %s", name);
     const namespace = new Namespace(this.server, name);
     namespace._fns = this._fns.slice(0);
     this.listeners("connect").forEach((listener) =>
@@ -61,6 +65,21 @@ export class ParentNamespace<
       namespace.on("connection", listener)
     );
     this.children.add(namespace);
+
+    if (this.server._opts.cleanupEmptyChildNamespaces) {
+      const remove = namespace._remove;
+
+      namespace._remove = (socket) => {
+        remove.call(namespace, socket);
+        if (namespace.sockets.size === 0) {
+          debug("closing child namespace %s", name);
+          namespace.adapter.close();
+          this.server._nsps.delete(namespace.name);
+          this.children.delete(namespace);
+        }
+      };
+    }
+
     this.server._nsps.set(name, namespace);
     return namespace;
   }
diff --git a/test/namespaces.ts b/test/namespaces.ts
index 7557e4a57b..380a2d263c 100644
--- a/test/namespaces.ts
+++ b/test/namespaces.ts
@@ -473,6 +473,24 @@ describe("namespaces", () => {
     io.of("/nsp");
   });
 
+  it("should not clean up a non-dynamic namespace", (done) => {
+    const io = new Server(0, { cleanupEmptyChildNamespaces: true });
+    const c1 = createClient(io, "/chat");
+
+    c1.on("connect", () => {
+      c1.disconnect();
+
+      // Give it some time to disconnect the client
+      setTimeout(() => {
+        expect(io._nsps.has("/chat")).to.be(true);
+        expect(io._nsps.get("/chat")!.sockets.size).to.be(0);
+        success(done, io);
+      }, 100);
+    });
+
+    io.of("/chat");
+  });
+
   describe("dynamic namespaces", () => {
     it("should allow connections to dynamic namespaces with a regex", (done) => {
       const io = new Server(0);
@@ -571,5 +589,68 @@ describe("namespaces", () => {
       one.on("message", handler);
       two.on("message", handler);
     });
+
+    it("should clean up namespace when cleanupEmptyChildNamespaces is on and there are no more sockets in a namespace", (done) => {
+      const io = new Server(0, { cleanupEmptyChildNamespaces: true });
+      const c1 = createClient(io, "/dynamic-101");
+
+      c1.on("connect", () => {
+        c1.disconnect();
+
+        // Give it some time to disconnect and clean up the namespace
+        setTimeout(() => {
+          expect(io._nsps.has("/dynamic-101")).to.be(false);
+          success(done, io);
+        }, 100);
+      });
+
+      io.of(/^\/dynamic-\d+$/);
+    });
+
+    it("should allow a client to connect to a cleaned up namespace", (done) => {
+      const io = new Server(0, { cleanupEmptyChildNamespaces: true });
+      const c1 = createClient(io, "/dynamic-101");
+
+      c1.on("connect", () => {
+        c1.disconnect();
+
+        // Give it some time to disconnect and clean up the namespace
+        setTimeout(() => {
+          expect(io._nsps.has("/dynamic-101")).to.be(false);
+
+          const c2 = createClient(io, "/dynamic-101");
+
+          c2.on("connect", () => {
+            success(done, io, c2);
+          });
+
+          c2.on("connect_error", () => {
+            done(
+              new Error("Client got error when connecting to dynamic namespace")
+            );
+          });
+        }, 100);
+      });
+
+      io.of(/^\/dynamic-\d+$/);
+    });
+
+    it("should not clean up namespace when cleanupEmptyChildNamespaces is off and there are no more sockets in a namespace", (done) => {
+      const io = new Server(0);
+      const c1 = createClient(io, "/dynamic-101");
+
+      c1.on("connect", () => {
+        c1.disconnect();
+
+        // Give it some time to disconnect and clean up the namespace
+        setTimeout(() => {
+          expect(io._nsps.has("/dynamic-101")).to.be(true);
+          expect(io._nsps.get("/dynamic-101")!.sockets.size).to.be(0);
+          success(done, io);
+        }, 100);
+      });
+
+      io.of(/^\/dynamic-\d+$/);
+    });
   });
 });