diff --git a/src/Gui/MainWindow.cpp b/src/Gui/MainWindow.cpp
index 28578da7d02b..ebad5beda527 100644
--- a/src/Gui/MainWindow.cpp
+++ b/src/Gui/MainWindow.cpp
@@ -768,7 +768,6 @@ void populateMenu(QMenu *menu, MenuType type, bool popup,
     QString tooltip, ltooltip;
     QMenu *hiddenMenu = nullptr;
     QMenu *lockMenu = nullptr;
-    QMenu *undockMenu = nullptr;
     menu->setToolTipsVisible(true);
 
     if (ViewParams::getEnableMenuBarCheckBox())
@@ -790,8 +789,6 @@ void populateMenu(QMenu *menu, MenuType type, bool popup,
                     !ToolBarManager::getInstance()->isDefaultMovable(), &checkbox);
             QObject::connect(lockAction, &QAction::toggled, cb);
             QObject::connect(checkbox, &QCheckBox::toggled, cb);
-            undockMenu = new QMenu(menu);
-            ToolBarManager::getInstance()->populateUndockMenu(undockMenu);
         } else {
             lockAction = lockMenu->addAction(QObject::tr("Default"));
             QObject::connect(lockAction, &QAction::toggled, cb);
@@ -945,8 +942,6 @@ void populateMenu(QMenu *menu, MenuType type, bool popup,
         }
     }
 
-    if (undockMenu && !undockMenu->actions().isEmpty())
-        menu->addMenu(undockMenu);
     if (hiddenMenu)
         menu->addMenu(hiddenMenu);
     if (lockMenu)
diff --git a/src/Gui/ToolBarManager.cpp b/src/Gui/ToolBarManager.cpp
index 27ebe05b91f6..4f9689a00c35 100644
--- a/src/Gui/ToolBarManager.cpp
+++ b/src/Gui/ToolBarManager.cpp
@@ -32,6 +32,7 @@
 # include <QMouseEvent>
 # include <QCheckBox>
 # include <QPointer>
+# include <QPainter>
 # include <QStatusBar>
 # include <QMenuBar>
 #endif
@@ -223,6 +224,7 @@ class ToolBarArea : public QWidget
     {
         if (_layout->indexOf(w) < 0) {
             _layout->addWidget(w);
+            ToolBarManager::getInstance()->setToolBarMovable(qobject_cast<QToolBar*>(w));
             adjustParentSize();
             QString name = w->objectName();
             if (!name.isEmpty()) {
@@ -240,6 +242,7 @@ class ToolBarArea : public QWidget
         if (index > 0)
             _layout->removeWidget(w);
         _layout->insertWidget(idx, w);
+        ToolBarManager::getInstance()->setToolBarMovable(qobject_cast<QToolBar*>(w));
         adjustParentSize();
         saveState();
     }
@@ -254,6 +257,12 @@ class ToolBarArea : public QWidget
     void removeWidget(QWidget *w)
     {
         _layout->removeWidget(w);
+        if (auto tb = qobject_cast<QToolBar*>(w)) {
+            if (auto grip = tb->findChild<ToolBarGrip*>()) {
+                tb->removeAction(grip->action());
+                grip->deleteLater();
+            }
+        }
         adjustParentSize();
         QString name = w->objectName();
         if (!name.isEmpty()) {
@@ -325,8 +334,133 @@ class ToolBarArea : public QWidget
     boost::signals2::scoped_connection &_conn;
 };
 
+class ToolBar: public QToolBar
+{
+public:
+    void initStyleOption(QStyleOptionToolBar *option) const
+    {
+        QToolBar::initStyleOption(option);
+    }
+};
+
 } // namespace Gui
 
+
+//////////////////////////////////////////////////////////////////////
+
+ToolBarGrip::ToolBarGrip(QToolBar * parent)
+    :QWidget(parent)
+{
+    QStyle *style = parent->style();
+    QStyleOptionToolBar opt;
+    static_cast<ToolBar*>(parent)->initStyleOption(&opt);
+    opt.features = QStyleOptionToolBar::Movable;
+    int width = style->subElementRect(QStyle::SE_ToolBarHandle, &opt, parent).width();
+    this->setFixedWidth(width+4);
+
+    setCursor(Qt::OpenHandCursor);
+    setMouseTracking(true);
+    auto actions = parent->actions();
+    _action = parent->insertWidget(actions.isEmpty()?nullptr:actions[0], this);
+    setVisible(true);
+}
+
+void ToolBarGrip::paintEvent(QPaintEvent*)
+{
+    QPainter painter(this);
+    if (auto toolbar = qobject_cast<QToolBar*>(parentWidget())) {
+        QStyle *style = toolbar->style();
+        QStyleOptionToolBar opt;
+        static_cast<ToolBar*>(toolbar)->initStyleOption(&opt);
+        opt.features = QStyleOptionToolBar::Movable;
+        // opt.rect = style->subElementRect(QStyle::SE_ToolBarHandle, &opt, toolbar);
+        opt.rect = this->rect();
+        style->drawPrimitive(QStyle::PE_IndicatorToolBarHandle, &opt, &painter, toolbar);
+    }
+    else {
+        painter.setPen(Qt::transparent);
+        painter.setOpacity(0.5);
+        painter.setBrush(QBrush(Qt::black, Qt::Dense6Pattern));
+        QRect rect(this->rect());
+        painter.drawRect(rect);
+    }
+}
+
+void ToolBarGrip::mouseMoveEvent(QMouseEvent *me)
+{
+    auto toolbar = qobject_cast<QToolBar*>(parentWidget());
+    if (!toolbar) {
+        return;
+    }
+    auto area = ToolBarManager::getInstance()->getToolBarArea(toolbar);
+    if (!area)
+        return;
+
+    QPoint pos = me->globalPos();
+    QRect rect(toolbar->mapToGlobal(QPoint(0,0)), toolbar->size());
+    if (rect.contains(pos))
+        return;
+
+    // If mouse is out of the toolbar, remove the toolbar from area and float the
+    // toolbar
+    {
+        QSignalBlocker blocker(toolbar);
+        area->removeWidget(toolbar);
+        ToolBarManager::getInstance()->addToolBarToMainWindow(toolbar);
+        toolbar->setWindowFlags(Qt::Tool
+                | Qt::FramelessWindowHint
+                | Qt::X11BypassWindowManagerHint);
+        toolbar->adjustSize();
+        pos = toolbar->mapFromGlobal(pos);
+        toolbar->move(pos.x()-10, pos.y()-10);
+        ToolBarManager::getInstance()->setToolBarVisible(toolbar, true);
+    }
+    toolbar->topLevelChanged(true);
+
+    // After removing from area, this grip will be deleted. In order to
+    // continue toolbar dragging (because the mouse button is still pressed),
+    // we fake mouse events and send to toolbar. For some reason,
+    // send/postEvent() does not work, only timer works.
+    QPointer tb(toolbar);
+    QTimer::singleShot(0, [tb] {
+        auto modifiers = QApplication::queryKeyboardModifiers();
+        auto buttons = QApplication::mouseButtons();
+        if (buttons != Qt::LeftButton
+                || QWidget::mouseGrabber()
+                || modifiers != Qt::NoModifier
+                || !tb) {
+            return;
+        }
+        QPoint pos(10, 10);
+        QPoint globalPos(tb->mapToGlobal(pos));
+        QMouseEvent mouseEvent(
+                QEvent::MouseButtonPress,
+                pos, globalPos, Qt::LeftButton, buttons, modifiers);
+        QApplication::sendEvent(tb, &mouseEvent);
+
+        // Mose follow the mouse press event with mouse move with some offset
+        // in order to activate toolbar dragging.
+        QPoint offset(30, 30);
+        QMouseEvent mouseMoveEvent(
+                QEvent::MouseMove,
+                pos+offset, globalPos+offset,
+                Qt::LeftButton, buttons, modifiers);
+        QApplication::sendEvent(tb, &mouseMoveEvent);
+    });
+}
+
+void ToolBarGrip::mousePressEvent(QMouseEvent *)
+{
+    setCursor(Qt::ClosedHandCursor);
+}
+
+void ToolBarGrip::mouseReleaseEvent(QMouseEvent *)
+{
+    setCursor(Qt::OpenHandCursor);
+}
+
+//////////////////////////////////////////////////////////////////////
+
 ToolBarManager::ToolBarManager()
 {
     hGeneral = App::GetApplication().GetUserParameter().GetGroup(
@@ -628,6 +762,7 @@ void ToolBarManager::onTimer()
         auto curArea = isGlobal ? gArea : area;
         QByteArray name = v.first.toUtf8();
         int idx = hStatusBar->GetInt(name, -1);
+        tb->setMovable(hMovable->GetBool(name, movable));
 
         if (idx >= 0) {
             sbToolBars[idx] = tb;
@@ -647,15 +782,13 @@ void ToolBarManager::onTimer()
         }
 
         if (tb->parentWidget() != getMainWindow()) {
-            Base::StateLocker guard(adding);
-            getMainWindow()->addToolBar(tb);
+            addToolBarToMainWindow(tb);
         }
 
         if (defArea != curArea && mw->toolBarArea(tb) == defArea)
             lines.emplace(ToolBarKey(tb),tb);
         if (tb->toggleViewAction()->isVisible())
             setToolBarVisible(tb, hPref->GetBool(name, tb->isVisible()));
-        tb->setMovable(hMovable->GetBool(name, movable));
     }
 
     bool first = true;
@@ -833,8 +966,7 @@ void ToolBarManager::setup(ToolBarItem* toolBarItems)
         if (toolbar_added) {
             auto area = getMainWindow()->toolBarArea(toolbar);
             if (!isToolBarAllowed(toolbar, area)) {
-                Base::StateLocker guard(adding);
-                getMainWindow()->addToolBar(toolbar);
+                addToolBarToMainWindow(toolbar);
             }
 
             int &top_width = widths[area];
@@ -967,8 +1099,7 @@ void ToolBarManager::restoreState()
             continue;
         }
         if (toolbar->parentWidget() != getMainWindow()) {
-            Base::StateLocker guard(adding);
-            getMainWindow()->addToolBar(toolbar);
+            addToolBarToMainWindow(toolbar);
         }
     }
 
@@ -978,6 +1109,24 @@ void ToolBarManager::restoreState()
     restored = true;
 }
 
+void ToolBarManager::addToolBarToMainWindow(QToolBar *toolbar)
+{
+    Base::StateLocker guard(adding);
+    getMainWindow()->addToolBar(toolbar);
+}
+
+ToolBarArea *ToolBarManager::getToolBarArea(QToolBar *toolbar)
+{
+    auto parent = toolbar->parentWidget();
+    if (parent == statusBarArea)
+        return statusBarArea;
+    if (parent == menuBarLeftArea)
+        return menuBarLeftArea;
+    if (parent == menuBarRightArea)
+        return menuBarRightArea;
+    return nullptr;
+}
+
 void ToolBarManager::retranslate()
 {
     for (auto &v : toolBars()) {
@@ -1092,22 +1241,43 @@ void ToolBarManager::onToggleStatusBarWidget(QWidget *w, bool visible)
     hStatusBar->SetBool(w->objectName().toUtf8().constData(), w->isVisible());
 }
 
-void ToolBarManager::onMovableChanged(bool movable)
+void ToolBarManager::onMovableChanged(bool)
+{
+    setToolBarMovable(qobject_cast<QToolBar*>(sender()));
+}
+
+void ToolBarManager::setToolBarMovable(QToolBar *toolbar)
 {
-    auto toolbar = qobject_cast<QToolBar*>(sender());
     if (!toolbar)
         return;
+
+    bool movable = toolbar->isMovable() && isDefaultMovable();
+
     if (restored && !toolbar->objectName().isEmpty()) {
         Base::ConnectionBlocker block(connParam);
         hMovable->SetBool(toolbar->objectName().toUtf8(), movable);
     }
+    if (auto area = getToolBarArea(toolbar)) {
+        if (auto grip = toolbar->findChild<ToolBarGrip*>()) {
+            if (!movable) {
+                toolbar->removeAction(grip->action());
+                grip->deleteLater();
+            }
+        }
+        else {
+            new ToolBarGrip(toolbar);
+        }
+        area->adjustParentSize();
+    }
     QString name = QStringLiteral("_fc_toolbar_sep_");
     auto sep = toolbar->findChild<QAction*>(name);
     if (sep) {
-        toolbar->removeAction(sep);
-        sep->deleteLater();
+        if (movable) {
+            toolbar->removeAction(sep);
+            sep->deleteLater();
+        }
     }
-    if (!movable) {
+    else if (!movable) {
         auto actions = toolbar->actions();
         if (actions.size()) {
             sep = toolbar->insertSeparator(actions[0]);
@@ -1248,57 +1418,9 @@ bool ToolBarManager::addToolBarToArea(QObject *o, QMouseEvent *ev)
     return false;
 }
 
-void ToolBarManager::populateUndockMenu(QMenu *menu, ToolBarArea *area)
-{
-    menu->setTitle(tr("Undock toolbars"));
-    auto tooltip = QObject::tr("Undock from status bar");
-    auto addMenuUndockItem = [&](QToolBar *toolbar, int, ToolBarArea *area) {
-        auto *action = toolbar->toggleViewAction();
-        QCheckBox *checkbox;
-        auto wa = Action::addCheckBox(menu, action->text(),
-                tooltip, action->icon(), true, &checkbox);
-        QObject::connect(wa, &QAction::toggled, [checkbox](bool checked){
-            QSignalBlocker block(checkbox);
-            checkbox->setChecked(checked);
-        });
-        QObject::connect(wa, &QWidgetAction::toggled, [area, toolbar, this](bool checked) {
-            if (checked) {
-                QSignalBlocker blocker(toolbar);
-                area->addWidget(toolbar);
-                setToolBarVisible(toolbar, true);
-            } else if (toolbar->parentWidget() == getMainWindow())
-                return;
-            else {
-                auto pos = toolbar->mapToGlobal(QPoint(0, 0));
-                QSignalBlocker blocker(toolbar);
-                area->removeWidget(toolbar);
-                {
-                    Base::StateLocker guard(adding);
-                    getMainWindow()->addToolBar(toolbar);
-                }
-                toolbar->setWindowFlags(Qt::Tool
-                        | Qt::FramelessWindowHint
-                        | Qt::X11BypassWindowManagerHint);
-                toolbar->move(pos.x(), pos.y()-toolbar->height()-10);
-                toolbar->adjustSize();
-                setToolBarVisible(toolbar, true);
-            }
-            toolbar->topLevelChanged(!checked);
-        });
-    };
-    if (area)
-        area->foreachToolBar(addMenuUndockItem);
-    else {
-        statusBarArea->foreachToolBar(addMenuUndockItem);
-        menuBarLeftArea->foreachToolBar(addMenuUndockItem);
-        menuBarRightArea->foreachToolBar(addMenuUndockItem);
-    }
-}
-
 bool ToolBarManager::showContextMenu(QObject *source)
 {
     QMenu menu;
-    QMenu menuUndock;
     QHBoxLayout *layout = nullptr;
     ToolBarArea *area;
     if (getMainWindow()->statusBar() == source) {
@@ -1367,12 +1489,6 @@ bool ToolBarManager::showContextMenu(QObject *source)
     }
 
     area->foreachToolBar(addMenuVisibleItem);
-    populateUndockMenu(&menuUndock, area);
-
-    if (menuUndock.actions().size()) {
-        menu.addSeparator();
-        menu.addMenu(&menuUndock);
-    }
     menu.exec(QCursor::pos());
     return true;
 }
diff --git a/src/Gui/ToolBarManager.h b/src/Gui/ToolBarManager.h
index 6e57ece768f1..a258bc540159 100644
--- a/src/Gui/ToolBarManager.h
+++ b/src/Gui/ToolBarManager.h
@@ -29,6 +29,7 @@
 #include <QStringList>
 #include <QPointer>
 #include <QTimer>
+#include <QToolBar>
 
 #include <FCGlobal.h>
 #include <Base/Parameter.h>
@@ -84,6 +85,29 @@ class GuiExport ToolBarItem
     QList<ToolBarItem*> _items;
 };
 
+
+class ToolBarGrip: public QWidget
+{
+    Q_OBJECT
+public:
+    ToolBarGrip(QToolBar *);
+
+    QAction *action()
+    {
+        return _action;
+    }
+
+protected:
+    void paintEvent(QPaintEvent*);
+    void mouseMoveEvent(QMouseEvent *);
+    void mousePressEvent(QMouseEvent *);
+    void mouseReleaseEvent(QMouseEvent *);
+
+private:
+    QPointer<QAction> _action;
+};
+
+
 /**
  * The ToolBarManager class is responsible for the creation of toolbars and appending them
  * to the main window.
@@ -121,7 +145,10 @@ class GuiExport ToolBarManager: public QObject
 
     int toolBarIconSize(QWidget *widget=nullptr) const;
     void setupToolBarIconSize();
-    void populateUndockMenu(QMenu *menu, ToolBarArea *area = nullptr);
+
+    void addToolBarToMainWindow(QToolBar *);
+    ToolBarArea *getToolBarArea(QToolBar *);
+    void setToolBarMovable(QToolBar *);
 
 protected Q_SLOTS:
     void onToggleToolBar(bool);