diff --git a/src/cpp/rtps/builtin/liveliness/WLP.cpp b/src/cpp/rtps/builtin/liveliness/WLP.cpp
index 969bf950bf6..f9b27a13627 100644
--- a/src/cpp/rtps/builtin/liveliness/WLP.cpp
+++ b/src/cpp/rtps/builtin/liveliness/WLP.cpp
@@ -711,6 +711,8 @@ bool WLP::remove_local_writer(
 
     EPROSIMA_LOG_INFO(RTPS_LIVELINESS, W->getGuid().entityId << " from Liveliness Protocol");
 
+    LivelinessData::WriterStatus writer_status;
+
     if (W->get_liveliness_kind() == AUTOMATIC_LIVELINESS_QOS)
     {
         auto it = std::find(
@@ -764,7 +766,8 @@ bool WLP::remove_local_writer(
         if (!pub_liveliness_manager_->remove_writer(
                     W->getGuid(),
                     W->get_liveliness_kind(),
-                    W->get_liveliness_lease_duration()))
+                    W->get_liveliness_lease_duration(),
+                    writer_status))
         {
             EPROSIMA_LOG_ERROR(RTPS_LIVELINESS,
                     "Could not remove writer " << W->getGuid() << " from liveliness manager");
@@ -808,7 +811,8 @@ bool WLP::remove_local_writer(
         if (!pub_liveliness_manager_->remove_writer(
                     W->getGuid(),
                     W->get_liveliness_kind(),
-                    W->get_liveliness_lease_duration()))
+                    W->get_liveliness_lease_duration(),
+                    writer_status))
         {
             EPROSIMA_LOG_ERROR(RTPS_LIVELINESS,
                     "Could not remove writer " << W->getGuid() << " from liveliness manager");
diff --git a/src/cpp/rtps/reader/StatefulReader.cpp b/src/cpp/rtps/reader/StatefulReader.cpp
index a4f7c8301d5..538cfde98ac 100644
--- a/src/cpp/rtps/reader/StatefulReader.cpp
+++ b/src/cpp/rtps/reader/StatefulReader.cpp
@@ -382,10 +382,22 @@ bool StatefulReader::matched_writer_remove(
         auto wlp = this->mp_RTPSParticipant->wlp();
         if ( wlp != nullptr)
         {
+            LivelinessData::WriterStatus writer_liveliness_status;
             wlp->sub_liveliness_manager_->remove_writer(
                 writer_guid,
                 liveliness_kind_,
-                liveliness_lease_duration_);
+                liveliness_lease_duration_,
+                writer_liveliness_status);
+
+            if (writer_liveliness_status == LivelinessData::WriterStatus::ALIVE)
+            {
+                wlp->update_liveliness_changed_status(writer_guid, this, -1, 0);
+            }
+            else if (writer_liveliness_status == LivelinessData::WriterStatus::NOT_ALIVE)
+            {
+                wlp->update_liveliness_changed_status(writer_guid, this, 0, -1);
+            }
+
         }
         else
         {
diff --git a/src/cpp/rtps/reader/StatelessReader.cpp b/src/cpp/rtps/reader/StatelessReader.cpp
index 2b1c6b91d17..66afd9bfabc 100644
--- a/src/cpp/rtps/reader/StatelessReader.cpp
+++ b/src/cpp/rtps/reader/StatelessReader.cpp
@@ -232,10 +232,21 @@ bool StatelessReader::matched_writer_remove(
         auto wlp = mp_RTPSParticipant->wlp();
         if ( wlp != nullptr)
         {
+            LivelinessData::WriterStatus writer_liveliness_status;
             wlp->sub_liveliness_manager_->remove_writer(
                 writer_guid,
                 liveliness_kind_,
-                liveliness_lease_duration_);
+                liveliness_lease_duration_,
+                writer_liveliness_status);
+
+            if (writer_liveliness_status == LivelinessData::WriterStatus::ALIVE)
+            {
+                wlp->update_liveliness_changed_status(writer_guid, this, -1, 0);
+            }
+            else if (writer_liveliness_status == LivelinessData::WriterStatus::NOT_ALIVE)
+            {
+                wlp->update_liveliness_changed_status(writer_guid, this, 0, -1);
+            }
         }
         else
         {
diff --git a/src/cpp/rtps/writer/LivelinessManager.cpp b/src/cpp/rtps/writer/LivelinessManager.cpp
index 357826bafb9..8c21676dbeb 100644
--- a/src/cpp/rtps/writer/LivelinessManager.cpp
+++ b/src/cpp/rtps/writer/LivelinessManager.cpp
@@ -107,10 +107,10 @@ bool LivelinessManager::add_writer(
 bool LivelinessManager::remove_writer(
         GUID_t guid,
         fastdds::dds::LivelinessQosPolicyKind kind,
-        Duration_t lease_duration)
+        Duration_t lease_duration,
+        LivelinessData::WriterStatus& writer_status)
 {
     bool removed = false;
-    LivelinessData::WriterStatus status;
 
     {
         // collection guard
@@ -118,9 +118,9 @@ bool LivelinessManager::remove_writer(
         // writers_ elements guard
         std::lock_guard<std::mutex> __(mutex_);
 
-        removed = writers_.remove_if([guid, kind, lease_duration, &status](LivelinessData& writer)
+        removed = writers_.remove_if([guid, kind, lease_duration, &writer_status](LivelinessData& writer)
                         {
-                            status = writer.status;
+                            writer_status = writer.status;
                             return writer.guid == guid &&
                             writer.kind == kind &&
                             writer.lease_duration == lease_duration &&
@@ -133,18 +133,6 @@ bool LivelinessManager::remove_writer(
         return false;
     }
 
-    if (callback_ != nullptr)
-    {
-        if (status == LivelinessData::WriterStatus::ALIVE)
-        {
-            callback_(guid, kind, lease_duration, -1, 0);
-        }
-        else if (status == LivelinessData::WriterStatus::NOT_ALIVE)
-        {
-            callback_(guid, kind, lease_duration, 0, -1);
-        }
-    }
-
     std::unique_lock<std::mutex> lock(mutex_);
 
     if (timer_owner_ != nullptr)
diff --git a/src/cpp/rtps/writer/LivelinessManager.hpp b/src/cpp/rtps/writer/LivelinessManager.hpp
index 4a37c5599b4..fb8561c9891 100644
--- a/src/cpp/rtps/writer/LivelinessManager.hpp
+++ b/src/cpp/rtps/writer/LivelinessManager.hpp
@@ -82,15 +82,17 @@ class LivelinessManager
 
     /**
      * @brief Removes a writer
-     * @param guid GUID of the writer
-     * @param kind Liveliness kind
-     * @param lease_duration Liveliness lease duration
+     * @param [in] guid GUID of the writer
+     * @param [in] kind Liveliness kind
+     * @param [in] lease_duration Liveliness lease duration
+     * @param [in,out] writer_liveliness_status The liveliness status of the writer
      * @return True if the writer was successfully removed
      */
     bool remove_writer(
             GUID_t guid,
             fastdds::dds::LivelinessQosPolicyKind kind,
-            Duration_t lease_duration);
+            Duration_t lease_duration,
+            LivelinessData::WriterStatus& writer_liveliness_status);
 
     /**
      * @brief Asserts liveliness of a writer in the set
diff --git a/test/unittest/rtps/writer/LivelinessManagerTests.cpp b/test/unittest/rtps/writer/LivelinessManagerTests.cpp
index 442ed485e5c..c484e694c0c 100644
--- a/test/unittest/rtps/writer/LivelinessManagerTests.cpp
+++ b/test/unittest/rtps/writer/LivelinessManagerTests.cpp
@@ -154,22 +154,27 @@ TEST_F(LivelinessManagerTests, WriterCannotBeRemovedTwice)
     GuidPrefix_t guidP;
     guidP.value[0] = 1;
     GUID_t guid(guidP, 0);
+    LivelinessData::WriterStatus writer_status;
 
     EXPECT_EQ(liveliness_manager.add_writer(guid, fastdds::dds::AUTOMATIC_LIVELINESS_QOS, Duration_t(1)), true);
-    EXPECT_EQ(liveliness_manager.remove_writer(guid, fastdds::dds::AUTOMATIC_LIVELINESS_QOS, Duration_t(1)), true);
-    EXPECT_EQ(liveliness_manager.remove_writer(guid, fastdds::dds::AUTOMATIC_LIVELINESS_QOS, Duration_t(1)), false);
+    EXPECT_EQ(liveliness_manager.remove_writer(guid, fastdds::dds::AUTOMATIC_LIVELINESS_QOS, Duration_t(1),
+            writer_status), true);
+    EXPECT_EQ(liveliness_manager.remove_writer(guid, fastdds::dds::AUTOMATIC_LIVELINESS_QOS, Duration_t(1),
+            writer_status), false);
 
     EXPECT_EQ(liveliness_manager.add_writer(guid, fastdds::dds::MANUAL_BY_PARTICIPANT_LIVELINESS_QOS, Duration_t(
                 1)), true);
     EXPECT_EQ(liveliness_manager.remove_writer(guid, fastdds::dds::MANUAL_BY_PARTICIPANT_LIVELINESS_QOS, Duration_t(
-                1)), true);
+                1), writer_status), true);
     EXPECT_EQ(liveliness_manager.remove_writer(guid, fastdds::dds::MANUAL_BY_PARTICIPANT_LIVELINESS_QOS, Duration_t(
-                1)), false);
+                1), writer_status), false);
 
     EXPECT_EQ(liveliness_manager.add_writer(guid, fastdds::dds::MANUAL_BY_TOPIC_LIVELINESS_QOS, Duration_t(1)), true);
-    EXPECT_EQ(liveliness_manager.remove_writer(guid, fastdds::dds::MANUAL_BY_TOPIC_LIVELINESS_QOS, Duration_t(1)),
+    EXPECT_EQ(liveliness_manager.remove_writer(guid, fastdds::dds::MANUAL_BY_TOPIC_LIVELINESS_QOS, Duration_t(1),
+            writer_status),
             true);
-    EXPECT_EQ(liveliness_manager.remove_writer(guid, fastdds::dds::MANUAL_BY_TOPIC_LIVELINESS_QOS, Duration_t(1)),
+    EXPECT_EQ(liveliness_manager.remove_writer(guid, fastdds::dds::MANUAL_BY_TOPIC_LIVELINESS_QOS, Duration_t(1),
+            writer_status),
             false);
 }
 
@@ -494,12 +499,14 @@ TEST_F(LivelinessManagerTests, TimerOwnerRemoved)
 
     GuidPrefix_t guidP;
     guidP.value[0] = 1;
+    LivelinessData::WriterStatus writer_status;
 
     liveliness_manager.add_writer(GUID_t(guidP, 1), fastdds::dds::AUTOMATIC_LIVELINESS_QOS, Duration_t(0.5));
     liveliness_manager.add_writer(GUID_t(guidP, 2), fastdds::dds::AUTOMATIC_LIVELINESS_QOS, Duration_t(1));
 
     liveliness_manager.assert_liveliness(GUID_t(guidP, 1), fastdds::dds::AUTOMATIC_LIVELINESS_QOS, Duration_t(0.5));
-    liveliness_manager.remove_writer(GUID_t(guidP, 1), fastdds::dds::AUTOMATIC_LIVELINESS_QOS, Duration_t(0.5));
+    liveliness_manager.remove_writer(GUID_t(guidP, 1), fastdds::dds::AUTOMATIC_LIVELINESS_QOS, Duration_t(
+                0.5), writer_status);
 
     wait_liveliness_lost(1u);
     EXPECT_EQ(writer_losing_liveliness, GUID_t(guidP, 2));