diff --git a/docs/lib/check-nav.js b/docs/lib/check-nav.js
index ac2c01038f438..0f9b3529c7546 100644
--- a/docs/lib/check-nav.js
+++ b/docs/lib/check-nav.js
@@ -29,17 +29,17 @@ function ensureNavigationComplete (nav, fsPaths, ext) {
   const errors = []
 
   if (missingNav.length) {
-    errors.push('The following path(s) exist on disk but are not present in nav.yml:')
+    errors.push('The following path(s) exist on disk but are not present in /lib/content/nav.yml:')
     errors.push(...missingNav.map(n => `  ${n}`))
   }
 
   if (missingFs.length) {
-    errors.push('The following path(s) exist in nav.yml but are not present on disk:')
+    errors.push('The following path(s) exist in lib/content/nav.yml but are not present on disk:')
     errors.push(...missingFs.map(n => `  ${n}`))
   }
 
   if (errors.length) {
-    errors.unshift('Documentation navigation (nav.yml) does not match filesystem.')
+    errors.unshift('Documentation navigation (lib/content/nav.yml) does not match filesystem.')
     errors.push('Update nav.yml to ensure that all files are listed in the appropriate place.')
     throw new Error(errors.join('\n'))
   }
diff --git a/docs/lib/content/commands/npm-undeprecate.md b/docs/lib/content/commands/npm-undeprecate.md
new file mode 100644
index 0000000000000..076ac9eff2d0a
--- /dev/null
+++ b/docs/lib/content/commands/npm-undeprecate.md
@@ -0,0 +1,24 @@
+---
+title: npm-undeprecate
+section: 1
+description: Undeprecate a version of a package
+---
+
+### Synopsis
+
+<!-- AUTOGENERATED USAGE DESCRIPTIONS -->
+
+### Description
+
+This command will update the npm registry entry for a package, removing any
+deprecation warnings that currently exist.
+
+It works in the same way as [npm deprecate](/commands/npm-deprecate), except
+that this command removes deprecation warnings instead of adding them.
+
+### Configuration
+
+<!-- AUTOGENERATED CONFIG DESCRIPTIONS -->
+### See Also
+
+* [npm deprecate](/commands/npm-deprecate)
diff --git a/docs/lib/content/nav.yml b/docs/lib/content/nav.yml
index 96c89e5cc1b71..4148c4533efcb 100644
--- a/docs/lib/content/nav.yml
+++ b/docs/lib/content/nav.yml
@@ -177,6 +177,9 @@
   - title: npm token
     url: /commands/npm-token
     description: Manage your authentication tokens
+  - title: npm undeprecate
+    url: /commands/npm-undeprecate
+    description: Undeprecate a version of a package
   - title: npm uninstall
     url: /commands/npm-uninstall
     description: Remove a package
diff --git a/lib/commands/undeprecate.js b/lib/commands/undeprecate.js
new file mode 100644
index 0000000000000..79ce66bbe5600
--- /dev/null
+++ b/lib/commands/undeprecate.js
@@ -0,0 +1,13 @@
+const Deprecate = require('./deprecate.js')
+
+class Undeprecate extends Deprecate {
+  static description = 'Undeprecate a version of a package'
+  static name = 'undeprecate'
+  static usage = ['<package-spec>']
+
+  async exec ([pkg]) {
+    return super.exec([pkg, ''])
+  }
+}
+
+module.exports = Undeprecate
diff --git a/lib/utils/cmd-list.js b/lib/utils/cmd-list.js
index 039d6ffddeb16..96eb0974a2ed3 100644
--- a/lib/utils/cmd-list.js
+++ b/lib/utils/cmd-list.js
@@ -62,6 +62,7 @@ const commands = [
   'team',
   'test',
   'token',
+  'undeprecate',
   'uninstall',
   'unpublish',
   'unstar',
diff --git a/smoke-tests/tap-snapshots/test/index.js.test.cjs b/smoke-tests/tap-snapshots/test/index.js.test.cjs
index 1de04263b4942..c04e01166f7cb 100644
--- a/smoke-tests/tap-snapshots/test/index.js.test.cjs
+++ b/smoke-tests/tap-snapshots/test/index.js.test.cjs
@@ -29,7 +29,8 @@ All commands:
     ping, pkg, prefix, profile, prune, publish, query, rebuild,
     repo, restart, root, run-script, sbom, search, set,
     shrinkwrap, star, stars, start, stop, team, test, token,
-    uninstall, unpublish, unstar, update, version, view, whoami
+    undeprecate, uninstall, unpublish, unstar, update, version,
+    view, whoami
 
 Specify configs in the ini-formatted file:
     {NPM}/{TESTDIR}/home/.npmrc
diff --git a/tap-snapshots/test/lib/commands/completion.js.test.cjs b/tap-snapshots/test/lib/commands/completion.js.test.cjs
index 9b6f1ba51c787..a281883539f61 100644
--- a/tap-snapshots/test/lib/commands/completion.js.test.cjs
+++ b/tap-snapshots/test/lib/commands/completion.js.test.cjs
@@ -100,6 +100,7 @@ Array [
     team
     test
     token
+    undeprecate
     uninstall
     unpublish
     unstar
diff --git a/tap-snapshots/test/lib/commands/publish.js.test.cjs b/tap-snapshots/test/lib/commands/publish.js.test.cjs
index c0dc06b568180..1599f1dd5c394 100644
--- a/tap-snapshots/test/lib/commands/publish.js.test.cjs
+++ b/tap-snapshots/test/lib/commands/publish.js.test.cjs
@@ -208,6 +208,7 @@ Object {
     "man/man1/npm-team.1",
     "man/man1/npm-test.1",
     "man/man1/npm-token.1",
+    "man/man1/npm-undeprecate.1",
     "man/man1/npm-uninstall.1",
     "man/man1/npm-unpublish.1",
     "man/man1/npm-unstar.1",
diff --git a/tap-snapshots/test/lib/docs.js.test.cjs b/tap-snapshots/test/lib/docs.js.test.cjs
index 0ebee0d7ae896..baceb5dcd3e3c 100644
--- a/tap-snapshots/test/lib/docs.js.test.cjs
+++ b/tap-snapshots/test/lib/docs.js.test.cjs
@@ -155,6 +155,7 @@ Array [
   "team",
   "test",
   "token",
+  "undeprecate",
   "uninstall",
   "unpublish",
   "unstar",
@@ -2850,7 +2851,7 @@ Usage:
 npm deprecate <package-spec> <message>
 
 Options:
-[--registry <registry>] [--otp <otp>]
+[--registry <registry>] [--otp <otp>] [--dry-run]
 
 Run "npm help deprecate" for more info
 
@@ -2862,6 +2863,7 @@ Note: This command is unaware of workspaces.
 
 #### \`registry\`
 #### \`otp\`
+#### \`dry-run\`
 `
 
 exports[`test/lib/docs.js TAP usage diff > must match snapshot 1`] = `
@@ -4274,6 +4276,28 @@ Note: This command is unaware of workspaces.
 #### \`otp\`
 `
 
+exports[`test/lib/docs.js TAP usage undeprecate > must match snapshot 1`] = `
+Undeprecate a version of a package
+
+Usage:
+npm undeprecate <package-spec>
+
+Options:
+[--registry <registry>] [--otp <otp>] [--dry-run]
+
+Run "npm help undeprecate" for more info
+
+\`\`\`bash
+npm undeprecate <package-spec>
+\`\`\`
+
+Note: This command is unaware of workspaces.
+
+#### \`registry\`
+#### \`otp\`
+#### \`dry-run\`
+`
+
 exports[`test/lib/docs.js TAP usage uninstall > must match snapshot 1`] = `
 Remove a package
 
diff --git a/tap-snapshots/test/lib/npm.js.test.cjs b/tap-snapshots/test/lib/npm.js.test.cjs
index 0864ffe37d297..88597c2fd15f6 100644
--- a/tap-snapshots/test/lib/npm.js.test.cjs
+++ b/tap-snapshots/test/lib/npm.js.test.cjs
@@ -39,7 +39,8 @@ All commands:
     ping, pkg, prefix, profile, prune, publish, query, rebuild,
     repo, restart, root, run-script, sbom, search, set,
     shrinkwrap, star, stars, start, stop, team, test, token,
-    uninstall, unpublish, unstar, update, version, view, whoami
+    undeprecate, uninstall, unpublish, unstar, update, version,
+    view, whoami
 
 Specify configs in the ini-formatted file:
     {USERCONFIG}
@@ -89,9 +90,10 @@ All commands:
     search, set, shrinkwrap,
     star, stars, start,
     stop, team, test, token,
-    uninstall, unpublish,
-    unstar, update, version,
-    view, whoami
+    undeprecate, uninstall,
+    unpublish, unstar,
+    update, version, view,
+    whoami
 
 Specify configs in the ini-formatted file:
     {USERCONFIG}
@@ -141,9 +143,10 @@ All commands:
     search, set, shrinkwrap,
     star, stars, start,
     stop, team, test, token,
-    uninstall, unpublish,
-    unstar, update, version,
-    view, whoami
+    undeprecate, uninstall,
+    unpublish, unstar,
+    update, version, view,
+    whoami
 
 Specify configs in the ini-formatted file:
     {USERCONFIG}
@@ -179,7 +182,8 @@ All commands:
     ping, pkg, prefix, profile, prune, publish, query, rebuild,
     repo, restart, root, run-script, sbom, search, set,
     shrinkwrap, star, stars, start, stop, team, test, token,
-    uninstall, unpublish, unstar, update, version, view, whoami
+    undeprecate, uninstall, unpublish, unstar, update, version,
+    view, whoami
 
 Specify configs in the ini-formatted file:
     {USERCONFIG}
@@ -229,9 +233,10 @@ All commands:
     search, set, shrinkwrap,
     star, stars, start,
     stop, team, test, token,
-    uninstall, unpublish,
-    unstar, update, version,
-    view, whoami
+    undeprecate, uninstall,
+    unpublish, unstar,
+    update, version, view,
+    whoami
 
 Specify configs in the ini-formatted file:
     {USERCONFIG}
@@ -281,9 +286,10 @@ All commands:
     search, set, shrinkwrap,
     star, stars, start,
     stop, team, test, token,
-    uninstall, unpublish,
-    unstar, update, version,
-    view, whoami
+    undeprecate, uninstall,
+    unpublish, unstar,
+    update, version, view,
+    whoami
 
 Specify configs in the ini-formatted file:
     {USERCONFIG}
@@ -331,10 +337,10 @@ All commands:
     run-script, sbom, search,
     set, shrinkwrap, star,
     stars, start, stop, team,
-    test, token, uninstall,
-    unpublish, unstar,
-    update, version, view,
-    whoami
+    test, token, undeprecate,
+    uninstall, unpublish,
+    unstar, update, version,
+    view, whoami
 
 Specify configs in the ini-formatted file:
     {USERCONFIG}
@@ -370,8 +376,8 @@ All commands:
     ping, pkg, prefix, profile, prune, publish, query, rebuild,
     repo, restart, root, run-script, sbom, search, set,
     shrinkwrap, star, stars, start, stop, team, test, token,
-    uninstall, unpublish, unstar, update, version, view,
-    whoami
+    undeprecate, uninstall, unpublish, unstar, update, version,
+    view, whoami
 
 Specify configs in the ini-formatted file:
     {USERCONFIG}
@@ -407,7 +413,8 @@ All commands:
     ping, pkg, prefix, profile, prune, publish, query, rebuild,
     repo, restart, root, run-script, sbom, search, set,
     shrinkwrap, star, stars, start, stop, team, test, token,
-    uninstall, unpublish, unstar, update, version, view, whoami
+    undeprecate, uninstall, unpublish, unstar, update, version,
+    view, whoami
 
 Specify configs in the ini-formatted file:
     {USERCONFIG}
@@ -443,7 +450,8 @@ All commands:
     ping, pkg, prefix, profile, prune, publish, query, rebuild,
     repo, restart, root, run-script, sbom, search, set,
     shrinkwrap, star, stars, start, stop, team, test, token,
-    uninstall, unpublish, unstar, update, version, view, whoami
+    undeprecate, uninstall, unpublish, unstar, update, version,
+    view, whoami
 
 Specify configs in the ini-formatted file:
     {USERCONFIG}
diff --git a/test/lib/commands/undeprecate.js b/test/lib/commands/undeprecate.js
new file mode 100644
index 0000000000000..775a2183a1299
--- /dev/null
+++ b/test/lib/commands/undeprecate.js
@@ -0,0 +1,72 @@
+const t = require('tap')
+const { load: loadMockNpm } = require('../../fixtures/mock-npm')
+
+const MockRegistry = require('@npmcli/mock-registry')
+
+const token = 'test-auth-token'
+const auth = { '//registry.npmjs.org/:_authToken': token }
+const versions = ['1.0.0', '1.0.1', '1.0.1-pre']
+
+t.test('no args', async t => {
+  const { npm } = await loadMockNpm(t)
+  await t.rejects(
+    npm.exec('undeprecate', []),
+    { code: 'EUSAGE' },
+    'logs usage'
+  )
+})
+
+t.test('undeprecate', async t => {
+  const { npm, logs, joinedOutput } = await loadMockNpm(t, { config: { ...auth } })
+  const registry = new MockRegistry({
+    tap: t,
+    registry: npm.config.get('registry'),
+    authorization: token,
+  })
+  const manifest = registry.manifest({
+    name: 'foo',
+    versions,
+  })
+  await registry.package({ manifest, query: { write: true } })
+  registry.nock.put('/foo', body => {
+    for (const version of versions) {
+      if (body.versions[version].deprecated !== '') {
+        return false
+      }
+    }
+    return true
+  }).reply(200, {})
+
+  await npm.exec('undeprecate', ['foo'])
+  t.match(logs.notice, [
+    'undeprecating foo@1.0.0',
+    'undeprecating foo@1.0.1',
+    'undeprecating foo@1.0.1-pre',
+  ])
+  t.match(joinedOutput(), '')
+})
+
+t.test('dry-run', async t => {
+  const { npm, logs, joinedOutput } = await loadMockNpm(t, { config: {
+    'dry-run': true,
+    ...auth,
+  } })
+  const registry = new MockRegistry({
+    tap: t,
+    registry: npm.config.get('registry'),
+    authorization: token,
+  })
+  const manifest = registry.manifest({
+    name: 'foo',
+    versions,
+  })
+  await registry.package({ manifest, query: { write: true } })
+
+  await npm.exec('undeprecate', ['foo'])
+  t.match(logs.notice, [
+    'undeprecating foo@1.0.0',
+    'undeprecating foo@1.0.1',
+    'undeprecating foo@1.0.1-pre',
+  ])
+  t.match(joinedOutput(), '')
+})