diff --git a/CHANGELOG.md b/CHANGELOG.md
index 6038e702cfc8..f6f1227d1617 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -9,6 +9,7 @@ Mapbox welcomes participation and contributions from everyone.
 * Fix glitch in chained camera animations.
 * Build XCFramework with `SWIFT_SERIALIZE_DEBUGGING_OPTIONS=NO` flag to avoid serialized search paths in Swift modules.
 * Fixed a crash that occurs when annotations have duplicate identifiers.
+* Expose `MapboxMap.centerAltitudeMode` and ensure correct `centerAltitudeMode` on gesture ending.
 * Expose extra configuration methods for `MapboxMap`: `setNorthOrientation(_:)`, `setConstrainMode(_:)` and `setViewportMode(_:)`.
 Use them to configure respective map options after creating a map view.
 * Expose `MapboxMap.reduceMemoryUse()` which can be used in situations when it is important to keep the memory footprint minimal.
diff --git a/Sources/MapboxMaps/Foundation/MapboxMap.swift b/Sources/MapboxMaps/Foundation/MapboxMap.swift
index 479678412cc3..d8e1b2ee1f4d 100644
--- a/Sources/MapboxMaps/Foundation/MapboxMap.swift
+++ b/Sources/MapboxMaps/Foundation/MapboxMap.swift
@@ -820,11 +820,26 @@ public final class MapboxMap: StyleManager {
         }
     }
 
+    /// Get/set the map centerAltitudeMode that defines how the map center point should react to terrain elevation changes.
+    /// See ``MapCenterAltitudeMode`` for options.
+    public var centerAltitudeMode: MapCenterAltitudeMode {
+        get { __map.getCenterAltitudeMode() }
+        set {
+            __map.setCenterAltitudeModeFor(newValue)
+            gestureState.intrinsicMode = newValue
+        }
+    }
+
+    private struct GestureState {
+        var count: Int
+        var intrinsicMode: MapCenterAltitudeMode
+    }
+
+    private lazy var gestureState = GestureState(count: 0, intrinsicMode: centerAltitudeMode)
+
     /// Returns `true` if a gesture is currently in progress.
     public var isGestureInProgress: Bool { __map.isGestureInProgress() }
 
-    private var gestureCount = 0
-
     /// If implementing a custom gesture, call this method when the gesture begins.
     ///
     /// Tells the map rendering engine that there is currently a gesture in progress. This
@@ -833,22 +848,25 @@ public final class MapboxMap: StyleManager {
     ///
     /// - Note: Must always be paired with a corresponding call to `endGesture()`
     public func beginGesture() {
-        gestureCount += 1
-        if gestureCount == 1 {
-            __map.setGestureInProgressForInProgress(true)
-            __map.setCenterAltitudeModeFor(.sea)
-        }
+        gestureState.count += 1
+        if gestureState.count == 1 { __map.setGestureInProgressForInProgress(true) }
+
+        /// We should set the center altitude mode to ``MapCenterAltitudeMode.sea`` during gestures to avoid bumpiness when the terrain is enabled.
+        /// It's not necessary to update ``MapCenterAltitudeMode`` if the user explicitly changed altitude to ``MapCenterAltitudeMode.sea`` before the gesture starts.
+        if centerAltitudeMode != .sea { __map.setCenterAltitudeModeFor(.sea) }
     }
 
     /// If implementing a custom gesture, call this method when the gesture ends.
     ///
     /// - Note: Must always be paired with a corresponding call to `beginGesture()`.
     public func endGesture() {
-        assert(gestureCount > 0)
-        gestureCount -= 1
-        if gestureCount == 0 {
+        assert(gestureState.count > 0)
+        gestureState.count -= 1
+        if gestureState.count == 0 {
             __map.setGestureInProgressForInProgress(false)
-            __map.setCenterAltitudeModeFor(.terrain)
+
+            /// After the gesture end we must ensure to set the ``centerAltitudeMode`` expected be the user.
+            __map.setCenterAltitudeModeFor(gestureState.intrinsicMode)
         }
     }
 }
diff --git a/Tests/MapboxMapsTests/Foundation/MapboxMapTests.swift b/Tests/MapboxMapsTests/Foundation/MapboxMapTests.swift
index c731af3a70bb..302b632e7980 100644
--- a/Tests/MapboxMapsTests/Foundation/MapboxMapTests.swift
+++ b/Tests/MapboxMapsTests/Foundation/MapboxMapTests.swift
@@ -296,30 +296,49 @@ final class MapboxMapTests: XCTestCase {
 
     func testBeginAndEndGesture() {
         XCTAssertFalse(mapboxMap.__testingMap.isGestureInProgress())
+        XCTAssertEqual(mapboxMap.__testingMap.getCenterAltitudeMode(), .terrain)
 
         mapboxMap.beginGesture()
 
         XCTAssertTrue(mapboxMap.__testingMap.isGestureInProgress())
+        XCTAssertEqual(mapboxMap.__testingMap.getCenterAltitudeMode(), .sea)
 
+        mapboxMap.centerAltitudeMode = .terrain
         mapboxMap.beginGesture()
 
         XCTAssertTrue(mapboxMap.__testingMap.isGestureInProgress())
+        XCTAssertEqual(mapboxMap.__testingMap.getCenterAltitudeMode(), .sea)
 
         mapboxMap.endGesture()
 
         XCTAssertTrue(mapboxMap.__testingMap.isGestureInProgress())
+        XCTAssertEqual(mapboxMap.__testingMap.getCenterAltitudeMode(), .sea)
 
         mapboxMap.beginGesture()
 
         XCTAssertTrue(mapboxMap.__testingMap.isGestureInProgress())
+        XCTAssertEqual(mapboxMap.__testingMap.getCenterAltitudeMode(), .sea)
 
         mapboxMap.endGesture()
 
         XCTAssertTrue(mapboxMap.__testingMap.isGestureInProgress())
+        XCTAssertEqual(mapboxMap.__testingMap.getCenterAltitudeMode(), .sea)
 
         mapboxMap.endGesture()
 
         XCTAssertFalse(mapboxMap.__testingMap.isGestureInProgress())
+        XCTAssertEqual(mapboxMap.__testingMap.getCenterAltitudeMode(), .terrain)
+
+        mapboxMap.beginGesture()
+
+        XCTAssertTrue(mapboxMap.__testingMap.isGestureInProgress())
+        XCTAssertEqual(mapboxMap.__testingMap.getCenterAltitudeMode(), .sea)
+
+        mapboxMap.centerAltitudeMode = .sea
+        mapboxMap.endGesture()
+
+        XCTAssertFalse(mapboxMap.__testingMap.isGestureInProgress())
+        XCTAssertEqual(mapboxMap.__testingMap.getCenterAltitudeMode(), .sea)
     }
 
     func testLoadStyleHandlerIsInvokedExactlyOnce() throws {