diff --git a/cflib2/_rust.pyi b/cflib2/_rust.pyi
index 4fff888..bcab1cc 100644
--- a/cflib2/_rust.pyi
+++ b/cflib2/_rust.pyi
@@ -324,6 +324,12 @@ class Crazyflie:
         r"""
         Disconnect from the Crazyflie
         """
+    async def wait_disconnect(self) -> builtins.str:
+        r"""
+        Wait for the Crazyflie to be disconnected
+
+        Returns a human-readable string describing the reason for disconnection.
+        """
     def commander(self) -> Commander:
         r"""
         Get the commander subsystem
diff --git a/rust/src/crazyflie.rs b/rust/src/crazyflie.rs
index f0ad7bc..fdca6b2 100644
--- a/rust/src/crazyflie.rs
+++ b/rust/src/crazyflie.rs
@@ -134,6 +134,18 @@ impl Crazyflie {
         })
     }
 
+    /// Wait for the Crazyflie to be disconnected
+    ///
+    /// Returns a human-readable string describing the reason for disconnection.
+    #[gen_stub(override_return_type(type_repr = "collections.abc.Coroutine[typing.Any, typing.Any, builtins.str]"))]
+    fn wait_disconnect<'py>(&self, py: Python<'py>) -> PyResult<Bound<'py, PyAny>> {
+        let inner = self.inner.clone();
+        pyo3_async_runtimes::tokio::future_into_py(py, async move {
+            let reason = inner.wait_disconnect().await;
+            Ok(reason)
+        })
+    }
+
     /// Get the commander subsystem
     fn commander(&self) -> Commander {
         Commander {