diff --git a/CHANGELOG.md b/CHANGELOG.md
index e192ce692e5..8d9d0c88065 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -39,6 +39,7 @@
 -   Fix segmentation fault (infinite recursion) of DetectPlanarPatches if multiple points have same coordinates (PR #6794)
 -   Fix build with fmt v10.2.0 (#6783)
 -   Fix segmentation fault (lambda reference capture) of VisualizerWithCustomAnimation::Play (PR #6804)
+-   Add O3DVisualizer API to enable collapse control of verts in the side panel (PR #6865)
 
 ## 0.13
 
diff --git a/cpp/open3d/visualization/gui/Layout.cpp b/cpp/open3d/visualization/gui/Layout.cpp
index f61c26eafe6..8da97bc899f 100644
--- a/cpp/open3d/visualization/gui/Layout.cpp
+++ b/cpp/open3d/visualization/gui/Layout.cpp
@@ -386,10 +386,7 @@ CollapsableVert::CollapsableVert(const char* text,
                                  int spacing,
                                  const Margins& margins /*= Margins()*/)
     : Vert(spacing, margins), impl_(new CollapsableVert::Impl()) {
-    static int g_next_id = 1;
-
-    impl_->text_ = text;
-    impl_->id_ = impl_->text_ + "##collapsing_" + std::to_string(g_next_id++);
+    SetText(text);
 }
 
 CollapsableVert::~CollapsableVert() {}
@@ -398,6 +395,15 @@ void CollapsableVert::SetIsOpen(bool is_open) { impl_->is_open_ = is_open; }
 
 bool CollapsableVert::GetIsOpen() { return impl_->is_open_; }
 
+void CollapsableVert::SetText(const char* text) {
+    static int g_next_id = 1;
+
+    impl_->text_ = text;
+    impl_->id_ = impl_->text_ + "##collapsing_" + std::to_string(g_next_id++);
+}
+
+std::string CollapsableVert::GetText() const { return impl_->text_; };
+
 FontId CollapsableVert::GetFontId() const { return impl_->font_id_; }
 
 void CollapsableVert::SetFontId(FontId font_id) { impl_->font_id_ = font_id; }
diff --git a/cpp/open3d/visualization/gui/Layout.h b/cpp/open3d/visualization/gui/Layout.h
index 8d069e49273..7421c6522cb 100644
--- a/cpp/open3d/visualization/gui/Layout.h
+++ b/cpp/open3d/visualization/gui/Layout.h
@@ -7,6 +7,8 @@
 
 #pragma once
 
+#include <string>
+
 #include "open3d/visualization/gui/Widget.h"
 
 namespace open3d {
@@ -148,6 +150,9 @@ class CollapsableVert : public Vert {
     /// Returns true if open and false if collapsed.
     bool GetIsOpen();
 
+    void SetText(const char* text);
+    std::string GetText() const;
+
     FontId GetFontId() const;
     void SetFontId(FontId font_id);
 
diff --git a/cpp/open3d/visualization/visualizer/O3DVisualizer.cpp b/cpp/open3d/visualization/visualizer/O3DVisualizer.cpp
index 554d38b2466..69dbcbadb61 100644
--- a/cpp/open3d/visualization/visualizer/O3DVisualizer.cpp
+++ b/cpp/open3d/visualization/visualizer/O3DVisualizer.cpp
@@ -1706,6 +1706,18 @@ Ctrl-alt-click to polygon select)";
         }
     }
 
+    void SetPanelOpen(const std::string &name, bool open) {
+        if (name == settings.mouse_panel->GetText()) {
+            settings.mouse_panel->SetIsOpen(open);
+        } else if (name == settings.scene_panel->GetText()) {
+            settings.scene_panel->SetIsOpen(open);
+        } else if (name == settings.light_panel->GetText()) {
+            settings.light_panel->SetIsOpen(open);
+        } else if (name == settings.geometries_panel->GetText()) {
+            settings.geometries_panel->SetIsOpen(open);
+        }
+    }
+
     void SetPicking() {
         if (selections_->GetNumberOfSets() == 0) {
             NewSelectionSet();
@@ -2446,6 +2458,10 @@ void O3DVisualizer::SetMouseMode(SceneWidget::Controls mode) {
     impl_->SetMouseMode(mode);
 }
 
+void O3DVisualizer::SetPanelOpen(const std::string &name, bool open) {
+    impl_->SetPanelOpen(name, open);
+}
+
 void O3DVisualizer::EnableGroup(const std::string &group, bool enable) {
     impl_->EnableGroup(group, enable);
 }
diff --git a/cpp/open3d/visualization/visualizer/O3DVisualizer.h b/cpp/open3d/visualization/visualizer/O3DVisualizer.h
index 4ceec56de76..af0ced3d6ba 100644
--- a/cpp/open3d/visualization/visualizer/O3DVisualizer.h
+++ b/cpp/open3d/visualization/visualizer/O3DVisualizer.h
@@ -175,6 +175,7 @@ class O3DVisualizer : public gui::Window {
     void SetLineWidth(int line_width);
     void EnableGroup(const std::string& group, bool enable);
     void SetMouseMode(gui::SceneWidget::Controls mode);
+    void SetPanelOpen(const std::string& name, bool open);
 
     std::vector<O3DVisualizerSelections::SelectionSet> GetSelectionSets() const;
 
diff --git a/cpp/pybind/visualization/gui/gui.cpp b/cpp/pybind/visualization/gui/gui.cpp
index a211d233a05..9f086e50ef5 100644
--- a/cpp/pybind/visualization/gui/gui.cpp
+++ b/cpp/pybind/visualization/gui/gui.cpp
@@ -1772,6 +1772,10 @@ void pybind_gui_classes(py::module &m) {
                  "window is visible")
             .def("get_is_open", &CollapsableVert::GetIsOpen,
                  "Check if widget is open.")
+            .def("set_text", &CollapsableVert::SetText, "text"_a,
+                 "Sets the text for the CollapsableVert")
+            .def("get_text", &CollapsableVert::GetText,
+                 "Gets the text for the CollapsableVert")
             .def_property("font_id", &CollapsableVert::GetFontId,
                           &CollapsableVert::SetFontId,
                           "Set the font using the FontId returned from "
diff --git a/cpp/pybind/visualization/o3dvisualizer.cpp b/cpp/pybind/visualization/o3dvisualizer.cpp
index a97d108f918..0859658a081 100644
--- a/cpp/pybind/visualization/o3dvisualizer.cpp
+++ b/cpp/pybind/visualization/o3dvisualizer.cpp
@@ -344,6 +344,9 @@ void pybind_o3dvisualizer(py::module& m) {
                  "enable"_a)
             .def("show_skybox", &O3DVisualizer::ShowSkybox,
                  "Show/Hide the skybox", "show"_a)
+            .def("set_panel_open", &O3DVisualizer::SetPanelOpen,
+                 "Expand/Collapse verts(panels) within the settings panel",
+                 "name"_a, "open"_a)
             .def_property(
                     "show_settings",
                     [](const O3DVisualizer& dv) {