diff --git a/LibCarla/source/carla/client/World.cpp b/LibCarla/source/carla/client/World.cpp
index df477cbab..bb11f89d2 100644
--- a/LibCarla/source/carla/client/World.cpp
+++ b/LibCarla/source/carla/client/World.cpp
@@ -150,6 +150,10 @@ namespace client {
     return nullptr;
   }
 
+  void World::ResetAllTrafficLights() {
+    _episode.Lock()->ResetAllTrafficLights();
+  }
+
   SharedPtr<LightManager> World::GetLightManager() const {
     return _episode.Lock()->GetLightManager();
   }
diff --git a/LibCarla/source/carla/client/World.h b/LibCarla/source/carla/client/World.h
index 41086e19f..981598b37 100644
--- a/LibCarla/source/carla/client/World.h
+++ b/LibCarla/source/carla/client/World.h
@@ -138,6 +138,8 @@ namespace client {
 
     SharedPtr<Actor> GetTrafficLight(const Landmark& landmark) const;
 
+    void ResetAllTrafficLights();
+
     SharedPtr<LightManager> GetLightManager() const;
 
     DebugHelper MakeDebugHelper() const {
diff --git a/LibCarla/source/carla/client/detail/Client.cpp b/LibCarla/source/carla/client/detail/Client.cpp
index 5859cf870..a415ef048 100644
--- a/LibCarla/source/carla/client/detail/Client.cpp
+++ b/LibCarla/source/carla/client/detail/Client.cpp
@@ -326,6 +326,10 @@ namespace detail {
     _pimpl->AsyncCall("reset_traffic_light_group", traffic_light);
   }
 
+  void Client::ResetAllTrafficLights() {
+    _pimpl->AsyncCall("reset_all_traffic_lights");
+  }
+
   void Client::FreezeAllTrafficLights(bool frozen) {
     _pimpl->AsyncCall("freeze_all_traffic_lights", frozen);
   }
diff --git a/LibCarla/source/carla/client/detail/Client.h b/LibCarla/source/carla/client/detail/Client.h
index 45d3d96ac..b8ed9fb50 100644
--- a/LibCarla/source/carla/client/detail/Client.h
+++ b/LibCarla/source/carla/client/detail/Client.h
@@ -205,6 +205,8 @@ namespace detail {
     void ResetTrafficLightGroup(
         rpc::ActorId traffic_light);
 
+    void ResetAllTrafficLights();
+
     void FreezeAllTrafficLights(bool frozen);
 
     /// Returns a list of pairs where the firts element is the vehicle ID
diff --git a/LibCarla/source/carla/client/detail/Simulator.h b/LibCarla/source/carla/client/detail/Simulator.h
index 2243f4216..36c14e0c6 100644
--- a/LibCarla/source/carla/client/detail/Simulator.h
+++ b/LibCarla/source/carla/client/detail/Simulator.h
@@ -473,6 +473,10 @@ namespace detail {
       _client.ResetTrafficLightGroup(trafficLight.GetId());
     }
 
+    void ResetAllTrafficLights() {
+      _client.ResetAllTrafficLights();
+    }
+
     std::vector<ActorId> GetGroupTrafficLights(TrafficLight &trafficLight) {
       return _client.GetGroupTrafficLights(trafficLight.GetId());
     }
diff --git a/PythonAPI/carla/source/libcarla/World.cpp b/PythonAPI/carla/source/libcarla/World.cpp
index 387efb605..d5ca4df28 100644
--- a/PythonAPI/carla/source/libcarla/World.cpp
+++ b/PythonAPI/carla/source/libcarla/World.cpp
@@ -202,6 +202,7 @@ void export_world() {
     .def("set_pedestrians_cross_factor", CALL_WITHOUT_GIL_1(cc::World, SetPedestriansCrossFactor, float), (arg("percentage")))
     .def("get_traffic_sign", CONST_CALL_WITHOUT_GIL_1(cc::World, GetTrafficSign, cc::Landmark), arg("landmark"))
     .def("get_traffic_light", CONST_CALL_WITHOUT_GIL_1(cc::World, GetTrafficLight, cc::Landmark), arg("landmark"))
+    .def("reset_all_traffic_lights", &cc::World::ResetAllTrafficLights)
     .def("get_lightmanager", CONST_CALL_WITHOUT_GIL(cc::World, GetLightManager))
     .def("freeze_all_traffic_lights", &cc::World::FreezeAllTrafficLights, (arg("frozen")))
     .def("get_level_bbs", &GetLevelBBs, (arg("actor_type")=cr::CityObjectLabel::None))
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp
index 6ce07a0b9..a4ff229f6 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp
@@ -906,6 +906,16 @@ void FCarlaServer::FPimpl::BindActions()
     return R<void>::Success();
   };
 
+  BIND_SYNC(reset_all_traffic_lights) << [this]() -> R<void>
+  {
+    REQUIRE_CARLA_EPISODE();
+    for (TActorIterator<ATrafficLightGroup> It(Episode->GetWorld()); It; ++It)
+    {
+      It->ResetGroup();
+    }
+    return R<void>::Success();
+  };
+
   BIND_SYNC(freeze_all_traffic_lights) << [this]
       (bool frozen) -> R<void>
   {