diff --git a/src/cpp/rtps/builtin/discovery/participant/PDPSimple.cpp b/src/cpp/rtps/builtin/discovery/participant/PDPSimple.cpp
index 18c1489cec7..617704c730f 100644
--- a/src/cpp/rtps/builtin/discovery/participant/PDPSimple.cpp
+++ b/src/cpp/rtps/builtin/discovery/participant/PDPSimple.cpp
@@ -569,8 +569,13 @@ void PDPSimple::removeRemoteEndpoints(
         ParticipantProxyData* pdata)
 {
     EPROSIMA_LOG_INFO(RTPS_PDP, "For RTPSParticipant: " << pdata->m_guid);
+    unmatch_pdp_remote_endpoints(pdata->m_guid);
+}
 
-    GUID_t guid = pdata->m_guid;
+void PDPSimple::unmatch_pdp_remote_endpoints(
+        const GUID_t& participant_guid)
+{
+    GUID_t guid = participant_guid;
 
     {
         auto endpoints = dynamic_cast<fastdds::rtps::SimplePDPEndpoints*>(builtin_endpoints_.get());
@@ -602,6 +607,7 @@ void PDPSimple::notifyAboveRemoteEndpoints(
 {
     if (notify_secure_endpoints)
     {
+        unmatch_pdp_remote_endpoints(pdata.m_guid);
         match_pdp_remote_endpoints(pdata, true, false);
     }
     else
diff --git a/src/cpp/rtps/builtin/discovery/participant/PDPSimple.h b/src/cpp/rtps/builtin/discovery/participant/PDPSimple.h
index 0631a9e645d..ff7b785d5d8 100644
--- a/src/cpp/rtps/builtin/discovery/participant/PDPSimple.h
+++ b/src/cpp/rtps/builtin/discovery/participant/PDPSimple.h
@@ -146,6 +146,14 @@ class PDPSimple : public PDP
             bool notify_secure_endpoints,
             bool writer_only);
 
+    /**
+     * @brief Unmatch PDP endpoints with a remote participant.
+     *
+     * @param participant_guid GUID of the remote participant.
+     */
+    void unmatch_pdp_remote_endpoints(
+            const GUID_t& participant_guid);
+
     void assign_low_level_remote_endpoints(
             const ParticipantProxyData& pdata,
             bool notify_secure_endpoints);