diff --git a/gulpfile.mjs b/gulpfile.mjs
index 539e199cf..57c8c66d1 100644
--- a/gulpfile.mjs
+++ b/gulpfile.mjs
@@ -1148,6 +1148,7 @@ function buildComponents(defines, dir) {
     "web/images/messageBar_*.svg",
     "web/images/toolbarButton-{editorHighlight,menuArrow}.svg",
     "web/images/cursor-*.svg",
+    "web/images/secondaryToolbarButton-documentProperties.svg",
   ];
 
   return ordered([
diff --git a/l10n/en-US/viewer.ftl b/l10n/en-US/viewer.ftl
index fbff0d86a..3e4a3510c 100644
--- a/l10n/en-US/viewer.ftl
+++ b/l10n/en-US/viewer.ftl
@@ -503,3 +503,24 @@ pdfjs-editor-alt-text-settings-editor-title = Alt text editor
 pdfjs-editor-alt-text-settings-show-dialog-button-label = Show alt text editor right away when adding an image
 pdfjs-editor-alt-text-settings-show-dialog-description = Helps you make sure all your images have alt text.
 pdfjs-editor-alt-text-settings-close-button = Close
+
+## "Annotations removed" bar
+
+pdfjs-editor-undo-bar-message-highlight = Highlight removed
+pdfjs-editor-undo-bar-message-freetext = Text removed
+pdfjs-editor-undo-bar-message-ink = Drawing removed
+pdfjs-editor-undo-bar-message-stamp = Image removed
+# Variables:
+#   $count (Number) - the number of removed annotations.
+pdfjs-editor-undo-bar-message-multiple =
+    { $count ->
+        [one] { $count } annotation removed
+       *[other] { $count } annotations removed
+    }
+
+pdfjs-editor-undo-bar-undo-button =
+    .title = Undo
+pdfjs-editor-undo-bar-undo-button-label = Undo
+pdfjs-editor-undo-bar-close-button =
+    .title = Close
+pdfjs-editor-undo-bar-close-button-label = Close
diff --git a/src/display/editor/draw.js b/src/display/editor/draw.js
index 3906fc4ee..d5f1c4bb0 100644
--- a/src/display/editor/draw.js
+++ b/src/display/editor/draw.js
@@ -676,6 +676,7 @@ class DrawingEditor extends AnnotationEditor {
       signal,
     });
     parent.toggleDrawing();
+    uiManager._editorUndoBar?.hide();
 
     if (this._currentDraw) {
       parent.drawLayer.updateProperties(
diff --git a/src/display/editor/editor.js b/src/display/editor/editor.js
index 026d22574..50aff8624 100644
--- a/src/display/editor/editor.js
+++ b/src/display/editor/editor.js
@@ -1142,6 +1142,8 @@ class AnnotationEditor {
 
     bindEvents(this, this.div, ["pointerdown"]);
 
+    this._uiManager._editorUndoBar?.hide();
+
     return this.div;
   }
 
diff --git a/src/display/editor/tools.js b/src/display/editor/tools.js
index d60832488..cb1d9e24b 100644
--- a/src/display/editor/tools.js
+++ b/src/display/editor/tools.js
@@ -620,6 +620,8 @@ class AnnotationEditorUIManager {
 
   #editorsToRescale = new Set();
 
+  _editorUndoBar = null;
+
   #enableHighlightFloatingButton = false;
 
   #enableUpdatedAddImage = false;
@@ -829,7 +831,8 @@ class AnnotationEditorUIManager {
     enableHighlightFloatingButton,
     enableUpdatedAddImage,
     enableNewAltTextWhenAddingImage,
-    mlManager
+    mlManager,
+    editorUndoBar
   ) {
     const signal = (this._signal = this.#abortController.signal);
     this.#container = container;
@@ -864,6 +867,7 @@ class AnnotationEditorUIManager {
       rotation: 0,
     };
     this.isShiftKeyDown = false;
+    this._editorUndoBar = editorUndoBar || null;
 
     if (typeof PDFJSDev !== "undefined" && PDFJSDev.test("TESTING")) {
       Object.defineProperty(this, "reset", {
@@ -904,6 +908,7 @@ class AnnotationEditorUIManager {
       clearTimeout(this.#translationTimeoutId);
       this.#translationTimeoutId = null;
     }
+    this._editorUndoBar?.destroy();
   }
 
   combinedSignal(ac) {
@@ -1656,6 +1661,8 @@ class AnnotationEditorUIManager {
       this.setEditingState(false);
       this.#disableAll();
 
+      this._editorUndoBar?.hide();
+
       this.#updateModeCapability.resolve();
       return;
     }
@@ -2038,6 +2045,7 @@ class AnnotationEditorUIManager {
       hasSomethingToRedo: true,
       isEmpty: this.#isEmpty(),
     });
+    this._editorUndoBar?.hide();
   }
 
   /**
@@ -2099,6 +2107,10 @@ class AnnotationEditorUIManager {
       ? [drawingEditor]
       : [...this.#selectedEditors];
     const cmd = () => {
+      this._editorUndoBar?.show(
+        undo,
+        editors.length === 1 ? editors[0].editorType : editors.length
+      );
       for (const editor of editors) {
         editor.remove();
       }
diff --git a/web/app.js b/web/app.js
index aa4bba755..e45c954b9 100644
--- a/web/app.js
+++ b/web/app.js
@@ -69,6 +69,7 @@ import { AltTextManager } from "web-alt_text_manager";
 import { AnnotationEditorParams } from "web-annotation_editor_params";
 import { CaretBrowsingMode } from "./caret_browsing.js";
 import { DownloadManager } from "web-download_manager";
+import { EditorUndoBar } from "./editor_undo_bar.js";
 import { OverlayManager } from "./overlay_manager.js";
 import { PasswordPrompt } from "./password_prompt.js";
 import { PDFAttachmentViewer } from "web-pdf_attachment_viewer";
@@ -192,6 +193,7 @@ const PDFViewerApplication = {
   _isCtrlKeyDown: false,
   _caretBrowsing: null,
   _isScrolling: false,
+  editorUndoBar: null,
 
   // Called once when the document is loaded.
   async initialize(appConfig) {
@@ -461,6 +463,10 @@ const PDFViewerApplication = {
         : null;
     }
 
+    if (appConfig.editorUndoBar) {
+      this.editorUndoBar = new EditorUndoBar(appConfig.editorUndoBar, eventBus);
+    }
+
     const enableHWA = AppOptions.get("enableHWA");
     const pdfViewer = new PDFViewer({
       container,
@@ -470,6 +476,7 @@ const PDFViewerApplication = {
       linkService: pdfLinkService,
       downloadManager,
       altTextManager,
+      editorUndoBar: this.editorUndoBar,
       findController,
       scriptingManager:
         AppOptions.get("enableScripting") && pdfScriptingManager,
@@ -2732,7 +2739,7 @@ function onTouchEnd(evt) {
   this._isPinching = false;
 }
 
-function onClick(evt) {
+function closeSecondaryToolbar(evt) {
   if (!this.secondaryToolbar?.isOpen) {
     return;
   }
@@ -2749,6 +2756,20 @@ function onClick(evt) {
   }
 }
 
+function closeEditorUndoBar(evt) {
+  if (!this.editorUndoBar?.isOpen) {
+    return;
+  }
+  if (this.appConfig.secondaryToolbar?.toolbar.contains(evt.target)) {
+    this.editorUndoBar.hide();
+  }
+}
+
+function onClick(evt) {
+  closeSecondaryToolbar.call(this, evt);
+  closeEditorUndoBar.call(this, evt);
+}
+
 function onKeyUp(evt) {
   // evt.ctrlKey is false hence we use evt.key.
   if (evt.key === "Control") {
@@ -2759,6 +2780,20 @@ function onKeyUp(evt) {
 function onKeyDown(evt) {
   this._isCtrlKeyDown = evt.key === "Control";
 
+  if (
+    this.editorUndoBar?.isOpen &&
+    evt.keyCode !== 9 &&
+    evt.keyCode !== 16 &&
+    !(
+      (evt.keyCode === 13 || evt.keyCode === 32) &&
+      getActiveOrFocusedElement() === this.appConfig.editorUndoBar.undoButton
+    )
+  ) {
+    // Hide undo bar on keypress except for Shift, Tab, Shift+Tab.
+    // Also avoid hiding if the undo button is triggered.
+    this.editorUndoBar.hide();
+  }
+
   if (this.overlayManager.active) {
     return;
   }
diff --git a/web/editor_undo_bar.js b/web/editor_undo_bar.js
new file mode 100644
index 000000000..aa064e384
--- /dev/null
+++ b/web/editor_undo_bar.js
@@ -0,0 +1,128 @@
+/* Copyright 2024 Mozilla Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+import { noContextMenu } from "pdfjs-lib";
+
+class EditorUndoBar {
+  #closeButton = null;
+
+  #container;
+
+  #eventBus = null;
+
+  #focusTimeout = null;
+
+  #initController = null;
+
+  isOpen = false;
+
+  #message;
+
+  #showController = null;
+
+  #undoButton;
+
+  static #l10nMessages = Object.freeze({
+    highlight: "pdfjs-editor-undo-bar-message-highlight",
+    freetext: "pdfjs-editor-undo-bar-message-freetext",
+    stamp: "pdfjs-editor-undo-bar-message-stamp",
+    ink: "pdfjs-editor-undo-bar-message-ink",
+    _multiple: "pdfjs-editor-undo-bar-message-multiple",
+  });
+
+  constructor({ container, message, undoButton, closeButton }, eventBus) {
+    this.#container = container;
+    this.#message = message;
+    this.#undoButton = undoButton;
+    this.#closeButton = closeButton;
+    this.#eventBus = eventBus;
+  }
+
+  destroy() {
+    this.#initController?.abort();
+    this.#initController = null;
+
+    this.hide();
+  }
+
+  show(undoAction, messageData) {
+    if (!this.#initController) {
+      this.#initController = new AbortController();
+      const opts = { signal: this.#initController.signal };
+      const boundHide = this.hide.bind(this);
+
+      this.#container.addEventListener("contextmenu", noContextMenu, opts);
+      this.#closeButton.addEventListener("click", boundHide, opts);
+      this.#eventBus._on("beforeprint", boundHide, opts);
+      this.#eventBus._on("download", boundHide, opts);
+    }
+
+    this.hide();
+
+    if (typeof messageData === "string") {
+      this.#message.setAttribute(
+        "data-l10n-id",
+        EditorUndoBar.#l10nMessages[messageData]
+      );
+    } else {
+      this.#message.setAttribute(
+        "data-l10n-id",
+        EditorUndoBar.#l10nMessages._multiple
+      );
+      this.#message.setAttribute(
+        "data-l10n-args",
+        JSON.stringify({ count: messageData })
+      );
+    }
+    this.isOpen = true;
+    this.#container.hidden = false;
+
+    this.#showController = new AbortController();
+
+    this.#undoButton.addEventListener(
+      "click",
+      () => {
+        undoAction();
+        this.hide();
+      },
+      { signal: this.#showController.signal }
+    );
+
+    // Without the setTimeout, VoiceOver will read out the document title
+    // instead of the popup label.
+    this.#focusTimeout = setTimeout(() => {
+      this.#container.focus();
+      this.#focusTimeout = null;
+    }, 100);
+  }
+
+  hide() {
+    if (!this.isOpen) {
+      return;
+    }
+    this.isOpen = false;
+    this.#container.hidden = true;
+
+    this.#showController?.abort();
+    this.#showController = null;
+
+    if (this.#focusTimeout) {
+      clearTimeout(this.#focusTimeout);
+      this.#focusTimeout = null;
+    }
+  }
+}
+
+export { EditorUndoBar };
diff --git a/web/message_bar.css b/web/message_bar.css
index 2e908f478..4a948d2ed 100644
--- a/web/message_bar.css
+++ b/web/message_bar.css
@@ -125,3 +125,97 @@
     }
   }
 }
+
+#editorUndoBar {
+  --text-primary-color: #15141a;
+
+  --message-bar-icon: url(images/secondaryToolbarButton-documentProperties.svg);
+  --message-bar-icon-color: #0060df;
+  --message-bar-bg-color: #deeafc;
+  --message-bar-fg-color: var(--text-primary-color);
+  --message-bar-border-color: rgb(0 0 0 / 0.08);
+
+  --undo-button-bg-color: rgb(21 20 26 / 0.07);
+  --undo-button-bg-color-hover: rgb(21 20 26 / 0.14);
+  --undo-button-bg-color-active: rgb(21 20 26 / 0.21);
+
+  --undo-button-fg-color: var(--message-bar-fg-color);
+  --undo-button-fg-color-hover: var(--undo-button-fg-color);
+  --undo-button-fg-color-active: var(--undo-button-fg-color);
+
+  --focus-ring-color: #0060df;
+  --focus-ring-outline: 2px solid var(--focus-ring-color);
+
+  @media (prefers-color-scheme: dark) {
+    --text-primary-color: #fbfbfe;
+
+    --message-bar-icon-color: #73a7f3;
+    --message-bar-bg-color: #003070;
+    --message-bar-border-color: rgb(255 255 255 / 0.08);
+
+    --undo-button-bg-color: rgb(255 255 255 / 0.08);
+    --undo-button-bg-color-hover: rgb(255 255 255 / 0.14);
+    --undo-button-bg-color-active: rgb(255 255 255 / 0.21);
+  }
+
+  @media screen and (forced-colors: active) {
+    --text-primary-color: CanvasText;
+
+    --message-bar-icon-color: CanvasText;
+    --message-bar-bg-color: Canvas;
+    --message-bar-border-color: CanvasText;
+
+    --undo-button-bg-color: ButtonText;
+    --undo-button-bg-color-hover: SelectedItem;
+    --undo-button-bg-color-active: SelectedItem;
+
+    --undo-button-fg-color: ButtonFace;
+    --undo-button-fg-color-hover: SelectedItemText;
+    --undo-button-fg-color-active: SelectedItemText;
+
+    --focus-ring-color: CanvasText;
+  }
+
+  position: fixed;
+  top: 50px;
+  left: 50%;
+  transform: translateX(-50%);
+  z-index: 10;
+
+  padding-block: 8px;
+  padding-inline: 16px 8px;
+
+  font: menu;
+  font-size: 15px;
+
+  cursor: default;
+
+  button {
+    cursor: pointer;
+  }
+
+  #editorUndoBarUndoButton {
+    border-radius: 4px;
+    font-weight: 590;
+    line-height: 19.5px;
+    color: var(--undo-button-fg-color);
+    border: none;
+    padding: 4px 16px;
+    margin-inline-start: 8px;
+    height: 32px;
+
+    background-color: var(--undo-button-bg-color);
+
+    &:hover {
+      background-color: var(--undo-button-bg-color-hover);
+    }
+
+    &:active {
+      background-color: var(--undo-button-bg-color-active);
+    }
+  }
+
+  > div {
+    align-items: center;
+  }
+}
diff --git a/web/pdf_viewer.js b/web/pdf_viewer.js
index 6f05d56fe..e968db3f1 100644
--- a/web/pdf_viewer.js
+++ b/web/pdf_viewer.js
@@ -214,6 +214,8 @@ class PDFViewer {
 
   #containerTopLeft = null;
 
+  #editorUndoBar = null;
+
   #enableHWA = false;
 
   #enableHighlightFloatingButton = false;
@@ -281,6 +283,7 @@ class PDFViewer {
     this.downloadManager = options.downloadManager || null;
     this.findController = options.findController || null;
     this.#altTextManager = options.altTextManager || null;
+    this.#editorUndoBar = options.editorUndoBar || null;
 
     if (this.findController) {
       this.findController.onIsPageVisible = pageNumber =>
@@ -907,7 +910,8 @@ class PDFViewer {
               this.#enableHighlightFloatingButton,
               this.#enableUpdatedAddImage,
               this.#enableNewAltTextWhenAddingImage,
-              this.#mlManager
+              this.#mlManager,
+              this.#editorUndoBar
             );
             eventBus.dispatch("annotationeditoruimanager", {
               source: this,
diff --git a/web/viewer.html b/web/viewer.html
index dc8020d32..bee574ad9 100644
--- a/web/viewer.html
+++ b/web/viewer.html
@@ -688,6 +688,20 @@ See https://github.com/adobe-type-tools/cmap-resources
 <!--#endif-->
       </div>  <!-- dialogContainer -->
 
+      <div id="editorUndoBar" class="messageBar" role="status" aria-labelledby="editorUndoBarMessage" tabindex="-1" hidden>
+        <div>
+          <div>
+            <span id="editorUndoBarMessage" class="description"></span>
+          </div>
+          <button id="editorUndoBarUndoButton" class="undoButton" type="button" tabindex="0" title="Undo" data-l10n-id="pdfjs-editor-undo-bar-undo-button">
+            <span data-l10n-id="pdfjs-editor-undo-bar-undo-button-label">Undo</span>
+          </button>
+          <button id="editorUndoBarCloseButton" class="closeButton" type="button" tabindex="0" title="Close" data-l10n-id="pdfjs-editor-undo-bar-close-button">
+            <span data-l10n-id="pdfjs-editor-undo-bar-close-button-label">Close</span>
+          </button>
+        </div>
+      </div> <!-- editorUndoBar -->
+
     </div> <!-- outerContainer -->
     <div id="printContainer"></div>
   </body>
diff --git a/web/viewer.js b/web/viewer.js
index 30eefd022..4cab20308 100644
--- a/web/viewer.js
+++ b/web/viewer.js
@@ -223,6 +223,12 @@ function getViewerConfiguration() {
       editorHighlightShowAll: document.getElementById("editorHighlightShowAll"),
     },
     printContainer: document.getElementById("printContainer"),
+    editorUndoBar: {
+      container: document.getElementById("editorUndoBar"),
+      message: document.getElementById("editorUndoBarMessage"),
+      undoButton: document.getElementById("editorUndoBarUndoButton"),
+      closeButton: document.getElementById("editorUndoBarCloseButton"),
+    },
   };
 }