diff --git a/sdk/python/kfp/__main__.py b/sdk/python/kfp/__main__.py
index 921bbd36abf4..f70002926d1d 100644
--- a/sdk/python/kfp/__main__.py
+++ b/sdk/python/kfp/__main__.py
@@ -18,9 +18,5 @@
 # kfp compile (migrate from dsl-compile)
 # kfp experiment (manage experiments)
 
-# TODO: kfp pipeline delete
-# Calling client._pipelines_api.delete_pipeline(id=pipeline_id) throws
-# exception: module 'kfp_server_api.models' has no attribute 'ERRORUNKNOWN'
-
 if __name__ == '__main__':
     main()
diff --git a/sdk/python/kfp/_client.py b/sdk/python/kfp/_client.py
index d84e726b851b..a62778d15a75 100644
--- a/sdk/python/kfp/_client.py
+++ b/sdk/python/kfp/_client.py
@@ -560,3 +560,15 @@ def get_pipeline(self, pipeline_id):
       Exception if pipeline is not found.
     """
     return self._pipelines_api.get_pipeline(id=pipeline_id)
+
+  def delete_pipeline(self, pipeline_id):
+    """Delete pipeline.
+    Args:
+      id of the pipeline.
+    Returns:
+      Object. If the method is called asynchronously,
+      returns the request thread.
+    Throws:
+      Exception if pipeline is not found.
+    """
+    return self._pipelines_api.delete_pipeline(id=pipeline_id)
diff --git a/sdk/python/kfp/cli/pipeline.py b/sdk/python/kfp/cli/pipeline.py
index e6654b97437a..d8aa490be21a 100644
--- a/sdk/python/kfp/cli/pipeline.py
+++ b/sdk/python/kfp/cli/pipeline.py
@@ -74,6 +74,17 @@ def get(ctx, pipeline_id):
     _display_pipeline(pipeline)
 
 
+@pipeline.command()
+@click.argument("pipeline-id")
+@click.pass_context
+def delete(ctx, pipeline_id):
+    """Delete an uploaded KFP pipeline"""
+    client = ctx.obj["client"]
+
+    client.delete_pipeline(pipeline_id)
+    print(f"{pipeline_id} is deleted")
+
+
 def _print_pipelines(pipelines):
     headers = ["Pipeline ID", "Name", "Uploaded at"]
     data = [[