diff --git a/package.json b/package.json
index c9311db..2cf5ede 100644
--- a/package.json
+++ b/package.json
@@ -201,6 +201,12 @@
         "title": "Flash Pico Project (SWD)",
         "category": "Raspberry Pi Pico",
         "enablement": "raspberry-pi-pico.isPicoProject"
+      },
+      {
+        "command": "raspberry-pi-pico.cleanCmake",
+        "title": "Clean CMake",
+        "category": "Raspberry Pi Pico",
+        "enablement": "raspberry-pi-pico.isPicoProject && !raspberry-pi-pico.isRustProject"
       }
     ],
     "configuration": {
diff --git a/src/commands/configureCmake.mts b/src/commands/configureCmake.mts
index e6ea4f5..c02bd0f 100644
--- a/src/commands/configureCmake.mts
+++ b/src/commands/configureCmake.mts
@@ -3,6 +3,9 @@ import Logger from "../logger.mjs";
 import { window, workspace } from "vscode";
 import { configureCmakeNinja } from "../utils/cmakeUtil.mjs";
 import Settings, { SettingsKey } from "../settings.mjs";
+import { join } from "path";
+import { rimraf } from "rimraf";
+import { unknownErrorToString } from "../utils/errorHelper.mjs";
 
 export default class ConfigureCmakeCommand extends Command {
   private _logger: Logger = new Logger("ConfigureCmakeCommand");
@@ -34,7 +37,7 @@ export default class ConfigureCmakeCommand extends Command {
         "You must use the CMake Tools extension to configure your build. " +
           "To use this extension instead, change the useCmakeTools setting."
       );
-  
+
       return;
     }
 
@@ -45,3 +48,62 @@ export default class ConfigureCmakeCommand extends Command {
     }
   }
 }
+
+export class CleanCMakeCommand extends Command {
+  private _logger: Logger = new Logger("CleanCMakeCommand");
+
+  public static readonly id = "cleanCmake";
+
+  constructor() {
+    super(CleanCMakeCommand.id);
+  }
+
+  async execute(): Promise<void> {
+    const workspaceFolder = workspace.workspaceFolders?.[0];
+
+    if (workspaceFolder === undefined) {
+      this._logger.warn("No workspace folder found.");
+      void window.showWarningMessage("No workspace folder found.");
+
+      return;
+    }
+
+    const settings = Settings.getInstance();
+
+    if (
+      settings !== undefined &&
+      settings.getBoolean(SettingsKey.useCmakeTools)
+    ) {
+      void window.showErrorMessage(
+        "You must use the CMake Tools extension to clean your build. " +
+          "To use this extension instead, change the useCmakeTools setting."
+      );
+
+      return;
+    }
+
+    try {
+      // delete build dir if present
+      const buildDir = join(workspaceFolder.uri.fsPath, "build");
+      await rimraf(buildDir, { maxRetries: 2 });
+    } catch (error) {
+      this._logger.error(
+        "Error cleaning build directory.",
+        unknownErrorToString(error)
+      );
+      void window.showErrorMessage("Error cleaning build directory.");
+
+      return;
+    }
+
+    if (await configureCmakeNinja(workspaceFolder.uri)) {
+      void window.showInformationMessage(
+        "CMake has been cleaned and reconfigured."
+      );
+    } else {
+      void window.showWarningMessage(
+        "CMake could not be reconfigured. See log for details."
+      );
+    }
+  }
+}
diff --git a/src/extension.mts b/src/extension.mts
index f37757d..cb3309f 100644
--- a/src/extension.mts
+++ b/src/extension.mts
@@ -65,7 +65,9 @@ import { PicoProjectActivityBar } from "./webview/activityBar.mjs";
 import ConditionalDebuggingCommand from "./commands/conditionalDebugging.mjs";
 import DebugLayoutCommand from "./commands/debugLayout.mjs";
 import OpenSdkDocumentationCommand from "./commands/openSdkDocumentation.mjs";
-import ConfigureCmakeCommand from "./commands/configureCmake.mjs";
+import ConfigureCmakeCommand, {
+  CleanCMakeCommand,
+} from "./commands/configureCmake.mjs";
 import ImportProjectCommand from "./commands/importProject.mjs";
 import { homedir } from "os";
 import NewExampleProjectCommand from "./commands/newExampleProject.mjs";
@@ -121,6 +123,7 @@ export async function activate(context: ExtensionContext): Promise<void> {
     new ImportProjectCommand(context.extensionUri),
     new NewExampleProjectCommand(context.extensionUri),
     new UninstallPicoSDKCommand(),
+    new CleanCMakeCommand(),
   ];
 
   // register all command handlers
diff --git a/src/webview/activityBar.mts b/src/webview/activityBar.mts
index bf60764..3b3f4e7 100644
--- a/src/webview/activityBar.mts
+++ b/src/webview/activityBar.mts
@@ -19,7 +19,9 @@ import OpenSdkDocumentationCommand, {
   DOCUMENTATION_LABEL_BY_ID,
   DocumentationId,
 } from "../commands/openSdkDocumentation.mjs";
-import ConfigureCmakeCommand from "../commands/configureCmake.mjs";
+import ConfigureCmakeCommand, {
+  CleanCMakeCommand,
+} from "../commands/configureCmake.mjs";
 import ImportProjectCommand from "../commands/importProject.mjs";
 import NewExampleProjectCommand from "../commands/newExampleProject.mjs";
 import SwitchBoardCommand from "../commands/switchBoard.mjs";
@@ -49,6 +51,7 @@ const COMPILE_PROJECT_LABEL = "Compile Project";
 const RUN_PROJECT_LABEL = "Run Project (USB)";
 const FLASH_PROJECT_LABEL = "Flash Project (SWD)";
 const CONFIGURE_CMAKE_PROJECT_LABEL = "Configure CMake";
+const CLEAN_CMAKE_PROJECT_LABEL = "Clean CMake";
 const DEBUG_PROJECT_LABEL = "Debug Project";
 const DEBUG_LAYOUT_PROJECT_LABEL = "Debug Layout";
 
@@ -112,6 +115,10 @@ export class PicoProjectActivityBar
         // alt. "gather"
         element.iconPath = new ThemeIcon("beaker");
         break;
+      case CLEAN_CMAKE_PROJECT_LABEL:
+        // or "trash" or "sync"
+        element.iconPath = new ThemeIcon("squirrel");
+        break;
       case SWITCH_SDK_LABEL:
         // repo-forked or extensions; alt. "replace-all"
         element.iconPath = new ThemeIcon("find-replace-all");
@@ -239,6 +246,14 @@ export class PicoProjectActivityBar
             title: CONFIGURE_CMAKE_PROJECT_LABEL,
           }
         ),
+        new QuickAccessCommand(
+          CLEAN_CMAKE_PROJECT_LABEL,
+          TreeItemCollapsibleState.None,
+          {
+            command: `${extensionName}.${CleanCMakeCommand.id}`,
+            title: CLEAN_CMAKE_PROJECT_LABEL,
+          }
+        ),
         new QuickAccessCommand(
           SWITCH_SDK_LABEL,
           TreeItemCollapsibleState.None,