diff --git a/src/lerobot/robots/lekiwi/lekiwi.py b/src/lerobot/robots/lekiwi/lekiwi.py
index b73ebeab9..3712a64d3 100644
--- a/src/lerobot/robots/lekiwi/lekiwi.py
+++ b/src/lerobot/robots/lekiwi/lekiwi.py
@@ -72,6 +72,12 @@ class LeKiwi(Robot):
         )
         self.arm_motors = [motor for motor in self.bus.motors if motor.startswith("arm")]
         self.base_motors = [motor for motor in self.bus.motors if motor.startswith("base")]
+        depth_cameras = [name for name, cfg in config.cameras.items() if getattr(cfg, "use_depth", False)]
+        if depth_cameras:
+            raise NotImplementedError(
+                f"Depth cameras are not supported on LeKiwi (got depth-enabled cameras: {depth_cameras}). "
+                "The host/client transport only carries color frames."
+            )
         self.cameras = make_cameras_from_configs(config.cameras)
 
     @property
diff --git a/src/lerobot/robots/lekiwi/lekiwi_client.py b/src/lerobot/robots/lekiwi/lekiwi_client.py
index fd43e84fe..1bc3dadc4 100644
--- a/src/lerobot/robots/lekiwi/lekiwi_client.py
+++ b/src/lerobot/robots/lekiwi/lekiwi_client.py
@@ -44,6 +44,13 @@ class LeKiwiClient(Robot):
         self.id = config.id
         self.robot_type = config.type
 
+        depth_cameras = [name for name, cfg in config.cameras.items() if getattr(cfg, "use_depth", False)]
+        if depth_cameras:
+            raise NotImplementedError(
+                f"Depth cameras are not supported on LeKiwi (got depth-enabled cameras: {depth_cameras}). "
+                "The host/client transport only carries color frames."
+            )
+
         self.remote_ip = config.remote_ip
         self.port_zmq_cmd = config.port_zmq_cmd
         self.port_zmq_observations = config.port_zmq_observations