diff --git a/cpp/open3d/geometry/VoxelGrid.cpp b/cpp/open3d/geometry/VoxelGrid.cpp
index 4a6dac2d1a7..dafe6b52c01 100644
--- a/cpp/open3d/geometry/VoxelGrid.cpp
+++ b/cpp/open3d/geometry/VoxelGrid.cpp
@@ -197,6 +197,8 @@ void VoxelGrid::AddVoxel(const Voxel &voxel) {
     voxels_[voxel.grid_index_] = voxel;
 }
 
+void VoxelGrid::RemoveVoxel(const Eigen::Vector3i &idx) { voxels_.erase(idx); }
+
 std::vector<bool> VoxelGrid::CheckIfIncluded(
         const std::vector<Eigen::Vector3d> &queries) {
     std::vector<bool> output;
diff --git a/cpp/open3d/geometry/VoxelGrid.h b/cpp/open3d/geometry/VoxelGrid.h
index d12d664c5f9..b0d8cc458ed 100644
--- a/cpp/open3d/geometry/VoxelGrid.h
+++ b/cpp/open3d/geometry/VoxelGrid.h
@@ -123,6 +123,9 @@ class VoxelGrid : public Geometry3D {
     /// Add a voxel with specified grid index and color.
     void AddVoxel(const Voxel &voxel);
 
+    /// Remove a voxel with specified grid index.
+    void RemoveVoxel(const Eigen::Vector3i &idx);
+
     /// Return a vector of 3D coordinates that define the indexed voxel cube.
     std::vector<Eigen::Vector3d> GetVoxelBoundingPoints(
             const Eigen::Vector3i &index) const;
diff --git a/cpp/pybind/geometry/voxelgrid.cpp b/cpp/pybind/geometry/voxelgrid.cpp
index 7abe1872e91..0528979b0f3 100644
--- a/cpp/pybind/geometry/voxelgrid.cpp
+++ b/cpp/pybind/geometry/voxelgrid.cpp
@@ -77,6 +77,10 @@ void pybind_voxelgrid(py::module &m) {
                  "Returns ``True`` if the voxel grid contains voxels.")
             .def("get_voxel", &VoxelGrid::GetVoxel, "point"_a,
                  "Returns voxel index given query point.")
+            .def("add_voxel", &VoxelGrid::AddVoxel, "voxel"_a,
+                 "Add a new voxel into the VoxelGrid.")
+            .def("remove_voxel", &VoxelGrid::RemoveVoxel, "idx"_a,
+                 "Remove a voxel given index.")
             .def("check_if_included", &VoxelGrid::CheckIfIncluded, "queries"_a,
                  "Element-wise check if a query in the list is included in "
                  "the VoxelGrid. Queries are double precision and "
@@ -155,6 +159,11 @@ void pybind_voxelgrid(py::module &m) {
     docstring::ClassMethodDocInject(m, "VoxelGrid", "has_voxels");
     docstring::ClassMethodDocInject(m, "VoxelGrid", "get_voxel",
                                     {{"point", "The query point."}});
+    docstring::ClassMethodDocInject(m, "VoxelGrid", "add_voxel",
+                                    {{"Voxel", "A new voxel."}});
+    docstring::ClassMethodDocInject(
+            m, "VoxelGrid", "remove_voxel",
+            {{"idx", "The grid index of the target voxel."}});
     docstring::ClassMethodDocInject(
             m, "VoxelGrid", "check_if_included",
             {{"query", "a list of voxel indices to check."}});