diff --git a/gtsam/hybrid/HybridBayesNet.cpp b/gtsam/hybrid/HybridBayesNet.cpp
index 8668bedd6..a665f6f92 100644
--- a/gtsam/hybrid/HybridBayesNet.cpp
+++ b/gtsam/hybrid/HybridBayesNet.cpp
@@ -19,6 +19,7 @@
 #include <gtsam/discrete/DiscreteBayesNet.h>
 #include <gtsam/discrete/DiscreteConditional.h>
 #include <gtsam/discrete/DiscreteFactorGraph.h>
+#include <gtsam/discrete/DiscreteMarginals.h>
 #include <gtsam/discrete/TableDistribution.h>
 #include <gtsam/hybrid/HybridBayesNet.h>
 #include <gtsam/hybrid/HybridValues.h>
@@ -46,7 +47,8 @@ bool HybridBayesNet::equals(const This &bn, double tol) const {
 // TODO(Frank): This can be quite expensive *unless* the factors have already
 // been pruned before. Another, possibly faster approach is branch and bound
 // search to find the K-best leaves and then create a single pruned conditional.
-HybridBayesNet HybridBayesNet::prune(size_t maxNrLeaves) const {
+HybridBayesNet HybridBayesNet::prune(size_t maxNrLeaves,
+                                     bool removeDeadModes) const {
   // Collect all the discrete conditionals. Could be small if already pruned.
   const DiscreteBayesNet marginal = discreteMarginal();
 
@@ -66,6 +68,30 @@ HybridBayesNet HybridBayesNet::prune(size_t maxNrLeaves) const {
   // we can prune HybridGaussianConditionals.
   DiscreteConditional pruned = *result.back()->asDiscrete();
 
+  DiscreteValues deadModesValues;
+  if (removeDeadModes) {
+    DiscreteMarginals marginals(DiscreteFactorGraph{pruned});
+    for (auto dkey : pruned.discreteKeys()) {
+      Vector probabilities = marginals.marginalProbabilities(dkey);
+
+      int index = -1;
+      auto threshold = (probabilities.array() > 0.99);
+      // If atleast 1 value is non-zero, then we can find the index
+      // Else if all are zero, index would be set to 0 which is incorrect
+      if (!threshold.isZero()) {
+        threshold.maxCoeff(&index);
+      }
+
+      if (index >= 0) {
+        deadModesValues.insert(std::make_pair(dkey.first, index));
+      }
+    }
+
+    // Remove the modes (imperative)
+    result.back()->removeModes(deadModesValues);
+    pruned = *result.back()->asDiscrete();
+  }
+
   /* To prune, we visitWith every leaf in the HybridGaussianConditional.
    * For each leaf, using the assignment we can check the discrete decision tree
    * for 0.0 probability, then just set the leaf to a nullptr.
@@ -80,8 +106,28 @@ HybridBayesNet HybridBayesNet::prune(size_t maxNrLeaves) const {
       // Prune the hybrid Gaussian conditional!
       auto prunedHybridGaussianConditional = hgc->prune(pruned);
 
-      // Type-erase and add to the pruned Bayes Net fragment.
-      result.push_back(prunedHybridGaussianConditional);
+      if (removeDeadModes) {
+        KeyVector deadKeys, conditionalDiscreteKeys;
+        for (const auto &kv : deadModesValues) {
+          deadKeys.push_back(kv.first);
+        }
+        for (auto dkey : prunedHybridGaussianConditional->discreteKeys()) {
+          conditionalDiscreteKeys.push_back(dkey.first);
+        }
+        // The discrete keys in the conditional are the same as the keys in the
+        // dead modes, then we just get the corresponding Gaussian conditional.
+        if (deadKeys == conditionalDiscreteKeys) {
+          result.push_back(
+              prunedHybridGaussianConditional->choose(deadModesValues));
+        } else {
+          // Add as-is
+          result.push_back(prunedHybridGaussianConditional);
+        }
+      } else {
+        // Type-erase and add to the pruned Bayes Net fragment.
+        result.push_back(prunedHybridGaussianConditional);
+      }
+
     } else if (auto gc = conditional->asGaussian()) {
       // Add the non-HybridGaussianConditional conditional
       result.push_back(gc);
diff --git a/gtsam/hybrid/HybridBayesNet.h b/gtsam/hybrid/HybridBayesNet.h
index 3e07c71ce..f114a6fa0 100644
--- a/gtsam/hybrid/HybridBayesNet.h
+++ b/gtsam/hybrid/HybridBayesNet.h
@@ -209,9 +209,10 @@ class GTSAM_EXPORT HybridBayesNet : public BayesNet<HybridConditional> {
    * @brief Prune the Bayes Net such that we have at most maxNrLeaves leaves.
    *
    * @param maxNrLeaves Continuous values at which to compute the error.
+   * @param removeDeadModes
    * @return A pruned HybridBayesNet
    */
-  HybridBayesNet prune(size_t maxNrLeaves) const;
+  HybridBayesNet prune(size_t maxNrLeaves, bool removeDeadModes = false) const;
 
   /**
    * @brief Error method using HybridValues which returns specific error for
diff --git a/gtsam/hybrid/tests/testHybridBayesNet.cpp b/gtsam/hybrid/tests/testHybridBayesNet.cpp
index 6a108b941..d2f67aa47 100644
--- a/gtsam/hybrid/tests/testHybridBayesNet.cpp
+++ b/gtsam/hybrid/tests/testHybridBayesNet.cpp
@@ -407,7 +407,7 @@ TEST(HybridBayesNet, Prune) {
 
   HybridBayesNet::shared_ptr posterior =
       s.linearizedFactorGraph().eliminateSequential();
-  EXPECT_LONGS_EQUAL(7, posterior->size());
+  EXPECT_LONGS_EQUAL(5, posterior->size());
 
   // Call Max-Product to get MAP
   HybridValues delta = posterior->optimize();
@@ -421,6 +421,35 @@ TEST(HybridBayesNet, Prune) {
   EXPECT(assert_equal(delta.continuous(), pruned_delta.continuous()));
 }
 
+/* ****************************************************************************/
+// Test Bayes net pruning and dead node removal
+TEST(HybridBayesNet, RemoveDeadNodes) {
+  Switching s(3);
+
+  HybridBayesNet::shared_ptr posterior =
+      s.linearizedFactorGraph().eliminateSequential();
+  EXPECT_LONGS_EQUAL(5, posterior->size());
+
+  // Call Max-Product to get MAP
+  HybridValues delta = posterior->optimize();
+
+  // Prune the Bayes net
+  const bool pruneDeadVariables = true;
+  auto prunedBayesNet = posterior->prune(2, pruneDeadVariables);
+
+  // Check that discrete joint only has M0 and not (M0, M1)
+  // since M0 is removed
+  KeyVector actual_keys = prunedBayesNet.at(0)->asDiscrete()->keys();
+  EXPECT(KeyVector{M(0)} == actual_keys);
+
+  // Check that hybrid conditionals that only depend on M1 are no longer hybrid
+  EXPECT(prunedBayesNet.at(0)->isDiscrete());
+  EXPECT(prunedBayesNet.at(1)->isHybrid());
+  // Only P(X2 | X1, M1) depends on M1, so it is Gaussian
+  EXPECT(prunedBayesNet.at(2)->isContinuous());
+  EXPECT(prunedBayesNet.at(3)->isHybrid());
+}
+
 /* ****************************************************************************/
 // Test Bayes net error and log-probability after pruning
 TEST(HybridBayesNet, ErrorAfterPruning) {