diff --git a/torchrl/data/tensor_specs.py b/torchrl/data/tensor_specs.py
index 5404beb0ec0..b701b2f6bf7 100644
--- a/torchrl/data/tensor_specs.py
+++ b/torchrl/data/tensor_specs.py
@@ -4311,6 +4311,34 @@ def ndim(self):
     def ndimension(self):
         return len(self.shape)
 
+    def pop(self, key: NestedKey, default: Any = NO_DEFAULT) -> Any:
+        """Removes and returns the value associated with the specified key from the composite spec.
+
+        This method searches for the given key in the composite spec, removes it, and returns its associated value.
+        If the key is not found, it returns the provided default value if specified, otherwise raises a `KeyError`.
+
+        Args:
+            key (NestedKey):
+                The key to be removed from the composite spec. It can be a single key or a nested key.
+            default (Any, optional):
+                The value to return if the specified key is not found in the composite spec.
+                If not provided and the key is not found, a `KeyError` is raised.
+
+        Returns:
+            Any: The value associated with the specified key that was removed from the composite spec.
+
+        Raises:
+            KeyError: If the specified key is not found in the composite spec and no default value is provided.
+        """
+        key = unravel_key(key)
+        if key in self.keys(True, True):
+            result = self[key]
+            del self[key]
+            return result
+        elif default is not NO_DEFAULT:
+            return default
+        raise KeyError(f"{key} not found in composite spec.")
+
     def set(self, name, spec):
         if self.locked:
             raise RuntimeError("Cannot modify a locked Composite.")