diff --git a/CHANGELOG.md b/CHANGELOG.md
index d1ef349..23f2656 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -7,6 +7,11 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ## Unreleased
 
+### Added
+
+- `roslibrust::zenoh` now re-exports `open`, `Config`, and `Session`, allowing users to construct a
+  `ZenohClient` without depending directly on the `zenoh` crate.
+
 ### Fixed
 
 - Zenoh clients no longer continuously subscribe to ROS 1 discovery beacons. Graph queries now
diff --git a/Cargo.lock b/Cargo.lock
index 3613645..f8f481f 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -3489,7 +3489,6 @@ dependencies = [
  "test-log",
  "tokio",
  "tokio-stream",
- "zenoh",
 ]
 
 [[package]]
diff --git a/README.md b/README.md
index 6a12acb..aaacc1e 100644
--- a/README.md
+++ b/README.md
@@ -54,7 +54,11 @@ async fn main() -> Result<(), Box<dyn std::error::Error + Send + Sync>> {
     // Relay messages over a zenoh connection compatible with zenoh-ros1-plugin / zenoh-ros1-bridge
     #[cfg(feature = "zenoh")]
     {
-    let ros = roslibrust::zenoh::ZenohClient::new(zenoh::open(zenoh::Config::default()).await.unwrap());
+    let ros = roslibrust::zenoh::ZenohClient::new(
+        roslibrust::zenoh::open(roslibrust::zenoh::Config::default())
+            .await
+            .unwrap(),
+    );
     relay(ros).await?;
     }
 
diff --git a/roslibrust/Cargo.toml b/roslibrust/Cargo.toml
index 34e4edf..bad63f1 100644
--- a/roslibrust/Cargo.toml
+++ b/roslibrust/Cargo.toml
@@ -34,8 +34,6 @@ roslibrust_codegen = { path = "../roslibrust_codegen" }
 roslibrust_codegen_macro = { path = "../roslibrust_codegen_macro" }
 # Slightly weird, but used in documentation examples
 roslibrust_test = { path = "../roslibrust_test" }
-# Slightly weird, but used in documentation examples
-zenoh = "1.7"
 # Provides test timeout
 ntest = "0.9"
 
diff --git a/roslibrust_zenoh/src/lib.rs b/roslibrust_zenoh/src/lib.rs
index 5f88b92..9eb3ca4 100644
--- a/roslibrust_zenoh/src/lib.rs
+++ b/roslibrust_zenoh/src/lib.rs
@@ -12,6 +12,10 @@ use std::{
 };
 use zenoh::bytes::ZBytes;
 
+// Re-export the parts of Zenoh's session API needed to construct a `ZenohClient`, so users of
+// `roslibrust::zenoh` do not also need a direct dependency on the `zenoh` crate.
+pub use zenoh::{open, Config, Session};
+
 /// Serialize a runtime-selected message as the ROS1 message body carried by the Zenoh ROS1
 /// bridge.
 pub fn serialize_dynamic_message(message: &DynamicMessage) -> DynamicMessageResult<Vec<u8>> {
@@ -46,12 +50,12 @@ const DISCOVERY_COLLECTION_WINDOW: Duration = Duration::from_millis(2250);
 /// Should be created via [ZenohClient::new], and then used via the [TopicProvider] and [ServiceProvider] traits.
 #[derive(Clone)]
 pub struct ZenohClient {
-    session: zenoh::Session,
+    session: Session,
 }
 
 impl ZenohClient {
     /// Creates a new client wrapped around a Zenoh session
-    pub fn new(session: zenoh::Session) -> Self {
+    pub fn new(session: Session) -> Self {
         Self { session }
     }
 }