diff --git a/CHANGELOG.md b/CHANGELOG.md
index ed7c3b58c..d04ec9fc3 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -14,6 +14,7 @@
  * Added possibility to change gravity variable in imui sensor for the accelerometer
  * Fixed ROS2 native extension build error when ROS2 is installed in the system.
  * ROS2Native: Force fast-dds dependencies download to avoid build crash when boost_asio and tinyxml2 are not installed in Linux.
+ * PythonAPI `Sensor.is_listening` was defined twice (property and method), cleaned and clarified it as a method.
  * Added V2X sensors for cooperative awareness message and custom user-defined messages to support vehicle-to-vehicle communication
 
 ## CARLA 0.9.15
diff --git a/Docs/core_sensors.md b/Docs/core_sensors.md
index 4ca9c1603..0a3ab237c 100644
--- a/Docs/core_sensors.md
+++ b/Docs/core_sensors.md
@@ -96,7 +96,8 @@ Sensor data differs a lot between sensor types. Take a look at the [sensors refe
 
 
 !!! Important
-    `is_listening` is a __sensor attribute__ that enables/disables data listening at will.  
+    `is_listening()` is a __sensor method__ to check whether the sensor has a callback registered by `listen`.
+    `stop()` is a __sensor method__ to stop the sensor from listening.
     `sensor_tick` is a __blueprint attribute__ that sets the simulation time between data received.  
 
 ---
diff --git a/PythonAPI/carla/source/libcarla/Sensor.cpp b/PythonAPI/carla/source/libcarla/Sensor.cpp
index 779738788..020b71592 100644
--- a/PythonAPI/carla/source/libcarla/Sensor.cpp
+++ b/PythonAPI/carla/source/libcarla/Sensor.cpp
@@ -26,7 +26,6 @@ void export_sensor() {
   namespace cc = carla::client;
 
   class_<cc::Sensor, bases<cc::Actor>, boost::noncopyable, boost::shared_ptr<cc::Sensor>>("Sensor", no_init)
-    .add_property("is_listening", &cc::Sensor::IsListening)
     .def("listen", &SubscribeToStream, (arg("callback")))
     .def("is_listening", &cc::Sensor::IsListening)
     .def("stop", &cc::Sensor::Stop)
diff --git a/PythonAPI/docs/sensor.yml b/PythonAPI/docs/sensor.yml
index d1f118978..06e78c2a5 100644
--- a/PythonAPI/docs/sensor.yml
+++ b/PythonAPI/docs/sensor.yml
@@ -23,13 +23,6 @@
         - [Collision detector](ref_sensors.md#collision-detector).
         - [Lane invasion detector](ref_sensors.md#lane-invasion-detector).
         - [Obstacle detector](ref_sensors.md#obstacle-detector).
-
-    # - PROPERTIES -------------------------
-    instance_variables:
-    - var_name: is_listening
-      type: boolean
-      doc: >
-        When <b>True</b> the sensor will be waiting for data.
     # - METHODS ----------------------------
     methods:
     - def_name: listen
@@ -44,6 +37,8 @@
     - def_name: is_listening
       doc: >
         Returns whether the sensor is in a listening state.
+      return:
+        bool
     # --------------------------------------
     - def_name: stop
       doc: >
@@ -60,6 +55,8 @@
     - def_name: is_enabled_for_ros
       doc: >
         Returns if the sensor is enabled or not to publish in ROS2 if there is no any listen to it.
+      return:
+        bool
     # --------------------------------------
     - def_name: listen_to_gbuffer
       params:
@@ -83,6 +80,8 @@
           The ID of the target Unreal Engine GBuffer texture.
       doc: >
         Returns whether the sensor is in a listening state for a specific GBuffer texture.
+      return:
+        bool
     # --------------------------------------
     - def_name: stop_gbuffer
       params: