diff --git a/torchrl/envs/common.py b/torchrl/envs/common.py
index dfedd118219..5544e48c0bb 100644
--- a/torchrl/envs/common.py
+++ b/torchrl/envs/common.py
@@ -376,6 +376,9 @@ class EnvBase(nn.Module, metaclass=_EnvPostInit):
             are to be expected. Can be ``None``.
         is_spec_locked (bool): returns ``True`` if the specs are locked. See the :attr:`spec_locked`
             argument above.
+        _skip_maybe_reset (bool): if ``True``, :meth:`step_and_maybe_reset` will skip calling
+            :meth:`maybe_reset` after each step. This is useful for auto-resetting environments
+            that already handle resets inside their :meth:`_step` method. Defaults to ``False``.
 
     Methods:
         step (TensorDictBase -> TensorDictBase): step in the environment
@@ -477,6 +480,7 @@ class EnvBase(nn.Module, metaclass=_EnvPostInit):
     _batch_size: torch.Size | None
     _device: torch.device | None
     _is_spec_locked: bool = False
+    _skip_maybe_reset: bool = False
 
     def __init__(
         self,
@@ -3829,7 +3833,8 @@ def step_and_maybe_reset(
         tensordict_ = self._step_mdp(tensordict)
         # if self._post_step_mdp_hooks is not None:
         # tensordict_ = self._post_step_mdp_hooks(tensordict_)
-        tensordict_ = self.maybe_reset(tensordict_)
+        if not self._skip_maybe_reset:
+            tensordict_ = self.maybe_reset(tensordict_)
         return tensordict, tensordict_
 
     # _post_step_mdp_hooks: Callable[[TensorDictBase], TensorDictBase] | None = None