diff --git a/include/zenoh-pico/config.h b/include/zenoh-pico/config.h
index 084981a3e..b10fa06dd 100644
--- a/include/zenoh-pico/config.h
+++ b/include/zenoh-pico/config.h
@@ -225,6 +225,13 @@
 #define Z_FEATURE_RAWETH_TRANSPORT 0
 #endif
 
+/**
+ * Enable message fragmentation.
+ */
+#ifndef Z_FEATURE_FRAGMENTATION
+#define Z_FEATURE_FRAGMENTATION 1
+#endif
+
 /*------------------ Compile-time configuration properties ------------------*/
 /**
  * Default length for Zenoh ID. Maximum size is 16 bytes.
diff --git a/include/zenoh-pico/transport/transport.h b/include/zenoh-pico/transport/transport.h
index e708b7e82..313f77268 100644
--- a/include/zenoh-pico/transport/transport.h
+++ b/include/zenoh-pico/transport/transport.h
@@ -26,9 +26,11 @@
 #include "zenoh-pico/protocol/definitions/transport.h"
 
 typedef struct {
+#if Z_FEATURE_FRAGMENTATION == 1
     // Defragmentation buffers
     _z_wbuf_t _dbuf_reliable;
     _z_wbuf_t _dbuf_best_effort;
+#endif
 
     _z_id_t _remote_zid;
     _z_bytes_t _remote_addr;
@@ -73,9 +75,13 @@ typedef struct {
 
     _z_link_t _link;
 
-    // Buffers
-    _z_wbuf_t _dbuf_reliable;     // Defragmentation buffer
-    _z_wbuf_t _dbuf_best_effort;  // Defragmentation buffer
+#if Z_FEATURE_FRAGMENTATION == 1
+    // Defragmentation buffer
+    _z_wbuf_t _dbuf_reliable;
+    _z_wbuf_t _dbuf_best_effort;
+#endif
+
+    // Regular Buffers
     _z_wbuf_t _wbuf;
     _z_zbuf_t _zbuf;
 
diff --git a/src/transport/multicast/rx.c b/src/transport/multicast/rx.c
index 1d0fc2a75..0f1d9a1a6 100644
--- a/src/transport/multicast/rx.c
+++ b/src/transport/multicast/rx.c
@@ -146,7 +146,9 @@ int8_t _z_multicast_handle_transport_message(_z_transport_multicast_t *ztm, _z_t
                     true) {
                     entry->_sn_rx_sns._val._plain._reliable = t_msg->_body._frame._sn;
                 } else {
+#if Z_FEATURE_FRAGMENTATION == 1
                     _z_wbuf_clear(&entry->_dbuf_reliable);
+#endif
                     _Z_INFO("Reliable message dropped because it is out of order");
                     break;
                 }
@@ -155,7 +157,9 @@ int8_t _z_multicast_handle_transport_message(_z_transport_multicast_t *ztm, _z_t
                                    t_msg->_body._frame._sn) == true) {
                     entry->_sn_rx_sns._val._plain._best_effort = t_msg->_body._frame._sn;
                 } else {
+#if Z_FEATURE_FRAGMENTATION == 1
                     _z_wbuf_clear(&entry->_dbuf_best_effort);
+#endif
                     _Z_INFO("Best effort message dropped because it is out of order");
                     break;
                 }
@@ -175,6 +179,7 @@ int8_t _z_multicast_handle_transport_message(_z_transport_multicast_t *ztm, _z_t
 
         case _Z_MID_T_FRAGMENT: {
             _Z_INFO("Received Z_FRAGMENT message");
+#if Z_FEATURE_FRAGMENTATION == 1
             if (entry == NULL) {
                 break;
             }
@@ -218,6 +223,9 @@ int8_t _z_multicast_handle_transport_message(_z_transport_multicast_t *ztm, _z_t
                 // Reset the defragmentation buffer
                 _z_wbuf_reset(dbuf);
             }
+#else
+            _Z_INFO("Fragment dropped because fragmentation feature is deactivated");
+#endif
             break;
         }
 
@@ -267,12 +275,14 @@ int8_t _z_multicast_handle_transport_message(_z_transport_multicast_t *ztm, _z_t
                         _z_conduit_sn_list_copy(&entry->_sn_rx_sns, &t_msg->_body._join._next_sn);
                         _z_conduit_sn_list_decrement(entry->_sn_res, &entry->_sn_rx_sns);
 
+#if Z_FEATURE_FRAGMENTATION == 1
 #if Z_FEATURE_DYNAMIC_MEMORY_ALLOCATION == 1
                         entry->_dbuf_reliable = _z_wbuf_make(0, true);
                         entry->_dbuf_best_effort = _z_wbuf_make(0, true);
 #else
                         entry->_dbuf_reliable = _z_wbuf_make(Z_FRAG_MAX_SIZE, false);
                         entry->_dbuf_best_effort = _z_wbuf_make(Z_FRAG_MAX_SIZE, false);
+#endif
 #endif
 
                         // Update lease time (set as ms during)
diff --git a/src/transport/multicast/tx.c b/src/transport/multicast/tx.c
index 637a206f7..18aefa3e4 100644
--- a/src/transport/multicast/tx.c
+++ b/src/transport/multicast/tx.c
@@ -114,6 +114,7 @@ int8_t _z_multicast_send_n_msg(_z_session_t *zn, const _z_network_message_t *n_m
                     ztm->_transmitted = true;  // Mark the session that we have transmitted data
                 }
             } else {
+#if Z_FEATURE_FRAGMENTATION == 1
                 // The message does not fit in the current batch, let's fragment it
                 // Create an expandable wbuf for fragmentation
                 _z_wbuf_t fbf = _z_wbuf_make(_Z_FRAG_BUFF_BASE_SIZE, true);
@@ -143,9 +144,11 @@ int8_t _z_multicast_send_n_msg(_z_session_t *zn, const _z_network_message_t *n_m
                         }
                     }
                 }
-
                 // Clear the buffer as it's no longer required
                 _z_wbuf_clear(&fbf);
+#else
+                _Z_INFO("Sending the message required fragmentation feature that is deactivated.");
+#endif
             }
         }
 
diff --git a/src/transport/peer_entry.c b/src/transport/peer_entry.c
index eebb7508f..599660fcc 100644
--- a/src/transport/peer_entry.c
+++ b/src/transport/peer_entry.c
@@ -17,16 +17,20 @@
 #include "zenoh-pico/transport/utils.h"
 
 void _z_transport_peer_entry_clear(_z_transport_peer_entry_t *src) {
+#if Z_FEATURE_FRAGMENTATION == 1
     _z_wbuf_clear(&src->_dbuf_reliable);
     _z_wbuf_clear(&src->_dbuf_best_effort);
+#endif
 
     src->_remote_zid = _z_id_empty();
     _z_bytes_clear(&src->_remote_addr);
 }
 
 void _z_transport_peer_entry_copy(_z_transport_peer_entry_t *dst, const _z_transport_peer_entry_t *src) {
+#if Z_FEATURE_FRAGMENTATION == 1
     _z_wbuf_copy(&dst->_dbuf_reliable, &src->_dbuf_reliable);
     _z_wbuf_copy(&dst->_dbuf_best_effort, &src->_dbuf_best_effort);
+#endif
 
     dst->_sn_res = src->_sn_res;
     _z_conduit_sn_list_copy(&dst->_sn_rx_sns, &src->_sn_rx_sns);
diff --git a/src/transport/raweth/tx.c b/src/transport/raweth/tx.c
index 4ed64452c..ac360cc9e 100644
--- a/src/transport/raweth/tx.c
+++ b/src/transport/raweth/tx.c
@@ -278,6 +278,7 @@ int8_t _z_raweth_send_n_msg(_z_session_t *zn, const _z_network_message_t *n_msg,
         // Mark the session that we have transmitted data
         ztm->_transmitted = true;
     } else {  // The message does not fit in the current batch, let's fragment it
+#if Z_FEATURE_FRAGMENTATION == 1
         // Create an expandable wbuf for fragmentation
         _z_wbuf_t fbf = _z_wbuf_make(_Z_FRAG_BUFF_BASE_SIZE, true);
         // Encode the message on the expandable wbuf
@@ -307,6 +308,9 @@ int8_t _z_raweth_send_n_msg(_z_session_t *zn, const _z_network_message_t *n_msg,
         }
         // Clear the expandable buffer
         _z_wbuf_clear(&fbf);
+#else
+        _Z_INFO("Sending the message required fragmentation feature that is deactivated.");
+#endif
     }
 #if Z_FEATURE_MULTI_THREAD == 1
     zp_mutex_unlock(&ztm->_mutex_tx);
diff --git a/src/transport/unicast/rx.c b/src/transport/unicast/rx.c
index 1ae4c3f74..3ed08a0a6 100644
--- a/src/transport/unicast/rx.c
+++ b/src/transport/unicast/rx.c
@@ -108,7 +108,9 @@ int8_t _z_unicast_handle_transport_message(_z_transport_unicast_t *ztu, _z_trans
                 if (_z_sn_precedes(ztu->_sn_res, ztu->_sn_rx_reliable, t_msg->_body._frame._sn) == true) {
                     ztu->_sn_rx_reliable = t_msg->_body._frame._sn;
                 } else {
+#if Z_FEATURE_FRAGMENTATION == 1
                     _z_wbuf_clear(&ztu->_dbuf_reliable);
+#endif
                     _Z_INFO("Reliable message dropped because it is out of order");
                     break;
                 }
@@ -116,7 +118,9 @@ int8_t _z_unicast_handle_transport_message(_z_transport_unicast_t *ztu, _z_trans
                 if (_z_sn_precedes(ztu->_sn_res, ztu->_sn_rx_best_effort, t_msg->_body._frame._sn) == true) {
                     ztu->_sn_rx_best_effort = t_msg->_body._frame._sn;
                 } else {
+#if Z_FEATURE_FRAGMENTATION == 1
                     _z_wbuf_clear(&ztu->_dbuf_best_effort);
+#endif
                     _Z_INFO("Best effort message dropped because it is out of order");
                     break;
                 }
@@ -134,6 +138,8 @@ int8_t _z_unicast_handle_transport_message(_z_transport_unicast_t *ztu, _z_trans
         }
 
         case _Z_MID_T_FRAGMENT: {
+            _Z_INFO("Received Z_FRAGMENT message");
+#if Z_FEATURE_FRAGMENTATION == 1
             _z_wbuf_t *dbuf = _Z_HAS_FLAG(t_msg->_header, _Z_FLAG_T_FRAGMENT_R)
                                   ? &ztu->_dbuf_reliable
                                   : &ztu->_dbuf_best_effort;  // Select the right defragmentation buffer
@@ -172,6 +178,9 @@ int8_t _z_unicast_handle_transport_message(_z_transport_unicast_t *ztu, _z_trans
                 // Reset the defragmentation buffer
                 _z_wbuf_reset(dbuf);
             }
+#else
+            _Z_INFO("Fragment dropped because fragmentation feature is deactivated");
+#endif
             break;
         }
 
diff --git a/src/transport/unicast/transport.c b/src/transport/unicast/transport.c
index b6375a4d7..3dd7b49a4 100644
--- a/src/transport/unicast/transport.c
+++ b/src/transport/unicast/transport.c
@@ -74,17 +74,32 @@ int8_t _z_unicast_transport_create(_z_transport_t *zt, _z_link_t *zl, _z_transpo
         expandable = false;
         dbuf_size = Z_FRAG_MAX_SIZE;
 #endif
+
         // Initialize tx rx buffers
         zt->_transport._unicast._wbuf = _z_wbuf_make(wbuf_size, false);
         zt->_transport._unicast._zbuf = _z_zbuf_make(zbuf_size);
 
+        // Clean up the buffers if one of them failed to be allocated
+        if ((_z_wbuf_capacity(&zt->_transport._unicast._wbuf) != wbuf_size) ||
+            (_z_zbuf_capacity(&zt->_transport._unicast._zbuf) != zbuf_size)) {
+            ret = _Z_ERR_SYSTEM_OUT_OF_MEMORY;
+
+#if Z_FEATURE_MULTI_THREAD == 1
+            zp_mutex_free(&zt->_transport._unicast._mutex_tx);
+            zp_mutex_free(&zt->_transport._unicast._mutex_rx);
+#endif  // Z_FEATURE_MULTI_THREAD == 1
+
+            _z_wbuf_clear(&zt->_transport._unicast._wbuf);
+            _z_zbuf_clear(&zt->_transport._unicast._zbuf);
+        }
+
+#if Z_FEATURE_FRAGMENTATION == 1
         // Initialize the defragmentation buffers
         zt->_transport._unicast._dbuf_reliable = _z_wbuf_make(dbuf_size, expandable);
         zt->_transport._unicast._dbuf_best_effort = _z_wbuf_make(dbuf_size, expandable);
 
         // Clean up the buffers if one of them failed to be allocated
-        if ((_z_wbuf_capacity(&zt->_transport._unicast._wbuf) != wbuf_size) ||
-            (_z_zbuf_capacity(&zt->_transport._unicast._zbuf) != zbuf_size) ||
+        if (
 #if Z_FEATURE_DYNAMIC_MEMORY_ALLOCATION == 0
             (_z_wbuf_capacity(&zt->_transport._unicast._dbuf_reliable) != dbuf_size) ||
             (_z_wbuf_capacity(&zt->_transport._unicast._dbuf_best_effort) != dbuf_size)) {
@@ -94,6 +109,9 @@ int8_t _z_unicast_transport_create(_z_transport_t *zt, _z_link_t *zl, _z_transpo
 #endif
             ret = _Z_ERR_SYSTEM_OUT_OF_MEMORY;
 
+            _z_wbuf_clear(&zt->_transport._unicast._dbuf_reliable);
+            _z_wbuf_clear(&zt->_transport._unicast._dbuf_best_effort);
+
 #if Z_FEATURE_MULTI_THREAD == 1
             zp_mutex_free(&zt->_transport._unicast._mutex_tx);
             zp_mutex_free(&zt->_transport._unicast._mutex_rx);
@@ -101,9 +119,8 @@ int8_t _z_unicast_transport_create(_z_transport_t *zt, _z_link_t *zl, _z_transpo
 
             _z_wbuf_clear(&zt->_transport._unicast._wbuf);
             _z_zbuf_clear(&zt->_transport._unicast._zbuf);
-            _z_wbuf_clear(&zt->_transport._unicast._dbuf_reliable);
-            _z_wbuf_clear(&zt->_transport._unicast._dbuf_best_effort);
         }
+#endif
     }
 
     if (ret == _Z_RES_OK) {
@@ -284,8 +301,10 @@ void _z_unicast_transport_clear(_z_transport_t *zt) {
     // Clean up the buffers
     _z_wbuf_clear(&ztu->_wbuf);
     _z_zbuf_clear(&ztu->_zbuf);
+#if Z_FEATURE_FRAGMENTATION == 1
     _z_wbuf_clear(&ztu->_dbuf_reliable);
     _z_wbuf_clear(&ztu->_dbuf_best_effort);
+#endif
 
     // Clean up PIDs
     ztu->_remote_zid = _z_id_empty();
diff --git a/src/transport/unicast/tx.c b/src/transport/unicast/tx.c
index 52d52b640..b89b7c0e9 100644
--- a/src/transport/unicast/tx.c
+++ b/src/transport/unicast/tx.c
@@ -123,6 +123,7 @@ int8_t _z_unicast_send_n_msg(_z_session_t *zn, const _z_network_message_t *n_msg
                     ztu->_transmitted = true;  // Mark the session that we have transmitted data
                 }
             } else {
+#if Z_FEATURE_FRAGMENTATION == 1
                 // The message does not fit in the current batch, let's fragment it
                 // Create an expandable wbuf for fragmentation
                 _z_wbuf_t fbf = _z_wbuf_make(_Z_FRAG_BUFF_BASE_SIZE, true);
@@ -155,6 +156,9 @@ int8_t _z_unicast_send_n_msg(_z_session_t *zn, const _z_network_message_t *n_msg
 
                 // Clear the buffer as it's no longer required
                 _z_wbuf_clear(&fbf);
+#else
+                _Z_INFO("Sending the message required fragmentation feature that is deactivated.");
+#endif
             }
         }