diff --git a/include/libcamera/camera.h b/include/libcamera/camera.h
index 28655bec9ebc89ce..6597ade83288a170 100644
--- a/include/libcamera/camera.h
+++ b/include/libcamera/camera.h
@@ -91,9 +91,6 @@ public:
 	std::unique_ptr<CameraConfiguration> generateConfiguration(const StreamRoles &roles);
 	int configure(CameraConfiguration *config);
 
-	int allocateBuffers();
-	int freeBuffers();
-
 	Request *createRequest(uint64_t cookie = 0);
 	int queueRequest(Request *request);
 
@@ -105,7 +102,6 @@ private:
 		CameraAvailable,
 		CameraAcquired,
 		CameraConfigured,
-		CameraPrepared,
 		CameraRunning,
 	};
 
diff --git a/src/android/camera_device.cpp b/src/android/camera_device.cpp
index 49321db07a2c93d5..a98fd744f5347432 100644
--- a/src/android/camera_device.cpp
+++ b/src/android/camera_device.cpp
@@ -77,8 +77,6 @@ int CameraDevice::open()
 void CameraDevice::close()
 {
 	camera_->stop();
-
-	camera_->freeBuffers();
 	camera_->release();
 
 	running_ = false;
@@ -690,16 +688,9 @@ void CameraDevice::processCaptureRequest(camera3_capture_request_t *camera3Reque
 
 	/* Start the camera if that's the first request we handle. */
 	if (!running_) {
-		int ret = camera_->allocateBuffers();
-		if (ret) {
-			LOG(HAL, Error) << "Failed to allocate buffers";
-			return;
-		}
-
-		ret = camera_->start();
+		int ret = camera_->start();
 		if (ret) {
 			LOG(HAL, Error) << "Failed to start camera";
-			camera_->freeBuffers();
 			return;
 		}
 
diff --git a/src/cam/capture.cpp b/src/cam/capture.cpp
index 738fa1c267eb6e36..7d970f991d3aaf1a 100644
--- a/src/cam/capture.cpp
+++ b/src/cam/capture.cpp
@@ -42,12 +42,6 @@ int Capture::run(EventLoop *loop, const OptionsParser::Options &options)
 		return ret;
 	}
 
-	ret = camera_->allocateBuffers();
-	if (ret) {
-		std::cerr << "Failed to allocate buffers" << std::endl;
-		return ret;
-	}
-
 	camera_->requestCompleted.connect(this, &Capture::requestComplete);
 
 	if (options.isSet(OptFile)) {
@@ -67,8 +61,6 @@ int Capture::run(EventLoop *loop, const OptionsParser::Options &options)
 		writer_ = nullptr;
 	}
 
-	camera_->freeBuffers();
-
 	delete allocator;
 
 	return ret;
diff --git a/src/libcamera/camera.cpp b/src/libcamera/camera.cpp
index f3a7578d0834a9d6..79a5f994f9bbc8c1 100644
--- a/src/libcamera/camera.cpp
+++ b/src/libcamera/camera.cpp
@@ -275,15 +275,13 @@ std::size_t CameraConfiguration::size() const
  * \section camera_operation Operating the Camera
  *
  * An application needs to perform a sequence of operations on a camera before
- * it is ready to process requests. The camera needs to be acquired, configured
- * and resources allocated or imported to prepare the camera for capture. Once
- * started the camera can process requests until it is stopped. When an
- * application is done with a camera all resources allocated need to be freed
- * and the camera released.
+ * it is ready to process requests. The camera needs to be acquired and
+ * configured to prepare the camera for capture. Once started the camera can
+ * process requests until it is stopped. When an application is done with a
+ * camera, the camera needs to be released.
  *
  * An application may start and stop a camera multiple times as long as it is
- * not released. The camera may also be reconfigured provided that all
- * resources allocated are freed prior to the reconfiguration.
+ * not released. The camera may also be reconfigured.
  *
  * \subsection Camera States
  *
@@ -297,7 +295,6 @@ std::size_t CameraConfiguration::size() const
  *   node [shape = doublecircle ]; Available;
  *   node [shape = circle ]; Acquired;
  *   node [shape = circle ]; Configured;
- *   node [shape = circle ]; Prepared;
  *   node [shape = circle ]; Running;
  *
  *   Available -> Available [label = "release()"];
@@ -307,14 +304,10 @@ std::size_t CameraConfiguration::size() const
  *   Acquired -> Configured [label = "configure()"];
  *
  *   Configured -> Available [label = "release()"];
- *   Configured -> Configured [label = "configure()"];
- *   Configured -> Prepared [label = "allocateBuffers()"];
+ *   Configured -> Configured [label = "configure(), createRequest()"];
+ *   Configured -> Running [label = "start()"];
  *
- *   Prepared -> Configured [label = "freeBuffers()"];
- *   Prepared -> Prepared [label = "createRequest()"];
- *   Prepared -> Running [label = "start()"];
- *
- *   Running -> Prepared [label = "stop()"];
+ *   Running -> Configured [label = "stop()"];
  *   Running -> Running [label = "createRequest(), queueRequest()"];
  * }
  * \enddot
@@ -330,19 +323,14 @@ std::size_t CameraConfiguration::size() const
  * Configured state.
  *
  * \subsubsection Configured
- * The camera is configured and ready for the application to prepare it with
- * resources. The camera may be reconfigured multiple times until resources
- * are provided and the state progresses to Prepared.
- *
- * \subsubsection Prepared
- * The camera has been configured and provided with resources and is ready to be
- * started. The application may free the camera's resources to get back to the
- * Configured state or start() it to progress to the Running state.
+ * The camera is configured and ready to be started. The application may
+ * release() the camera and to get back to the Available state or start()
+ * it to progress to the Running state.
  *
  * \subsubsection Running
  * The camera is running and ready to process requests queued by the
  * application. The camera remains in this state until it is stopped and moved
- * to the Prepared state.
+ * to the Configured state.
  */
 
 /**
@@ -420,7 +408,6 @@ static const char *const camera_state_names[] = {
 	"Available",
 	"Acquired",
 	"Configured",
-	"Prepared",
 	"Running",
 };
 
@@ -465,8 +452,6 @@ bool Camera::stateIs(State state) const
  *
  * \todo Deal with pending requests if the camera is disconnected in a
  * running state.
- * \todo Update comment about Running state when importing buffers as well as
- * allocating them are supported.
  */
 void Camera::disconnect()
 {
@@ -474,11 +459,11 @@ void Camera::disconnect()
 
 	/*
 	 * If the camera was running when the hardware was removed force the
-	 * state to Prepared to allow applications to call freeBuffers() and
-	 * release() before deleting the camera.
+	 * state to Configured state to allow applications to free resources
+	 * and call release() before deleting the camera.
 	 */
 	if (state_ == CameraRunning)
-		state_ = CameraPrepared;
+		state_ = CameraConfigured;
 
 	disconnected_ = true;
 	disconnected.emit(this);
@@ -702,53 +687,6 @@ int Camera::configure(CameraConfiguration *config)
 	return 0;
 }
 
-/**
- * \brief Allocate buffers for all configured streams
- *
- * This function affects the state of the camera, see \ref camera_operation.
- *
- * \return 0 on success or a negative error code otherwise
- * \retval -ENODEV The camera has been disconnected from the system
- * \retval -EACCES The camera is not in a state where buffers can be allocated
- * \retval -EINVAL The configuration is not valid
- */
-int Camera::allocateBuffers()
-{
-	if (disconnected_)
-		return -ENODEV;
-
-	if (!stateIs(CameraConfigured))
-		return -EACCES;
-
-	if (activeStreams_.empty()) {
-		LOG(Camera, Error)
-			<< "Can't allocate buffers without streams";
-		return -EINVAL;
-	}
-
-	state_ = CameraPrepared;
-
-	return 0;
-}
-
-/**
- * \brief Release all buffers from allocated pools in each stream
- *
- * This function affects the state of the camera, see \ref camera_operation.
- *
- * \return 0 on success or a negative error code otherwise
- * \retval -EACCES The camera is not in a state where buffers can be freed
- */
-int Camera::freeBuffers()
-{
-	if (!stateIs(CameraPrepared))
-		return -EACCES;
-
-	state_ = CameraConfigured;
-
-	return 0;
-}
-
 /**
  * \brief Create a request object for the camera
  * \param[in] cookie Opaque cookie for application use
@@ -764,14 +702,14 @@ int Camera::freeBuffers()
  * The ownership of the returned request is passed to the caller, which is
  * responsible for either queueing the request or deleting it.
  *
- * This function shall only be called when the camera is in the Prepared
+ * This function shall only be called when the camera is in the Configured
  * or Running state, see \ref camera_operation.
  *
  * \return A pointer to the newly created request, or nullptr on error
  */
 Request *Camera::createRequest(uint64_t cookie)
 {
-	if (disconnected_ || !stateBetween(CameraPrepared, CameraRunning))
+	if (disconnected_ || !stateBetween(CameraConfigured, CameraRunning))
 		return nullptr;
 
 	return new Request(this, cookie);
@@ -842,7 +780,7 @@ int Camera::start()
 	if (disconnected_)
 		return -ENODEV;
 
-	if (!stateIs(CameraPrepared))
+	if (!stateIs(CameraConfigured))
 		return -EACCES;
 
 	LOG(Camera, Debug) << "Starting capture";
@@ -885,7 +823,7 @@ int Camera::stop()
 
 	LOG(Camera, Debug) << "Stopping capture";
 
-	state_ = CameraPrepared;
+	state_ = CameraConfigured;
 
 	pipe_->stop(this);
 
diff --git a/src/libcamera/framebuffer_allocator.cpp b/src/libcamera/framebuffer_allocator.cpp
index 57789b24e9615fa6..207a13bd841da2b8 100644
--- a/src/libcamera/framebuffer_allocator.cpp
+++ b/src/libcamera/framebuffer_allocator.cpp
@@ -116,8 +116,7 @@ FrameBufferAllocator::~FrameBufferAllocator()
  */
 int FrameBufferAllocator::allocate(Stream *stream)
 {
-	if (camera_->state_ != Camera::CameraConfigured &&
-	    camera_->state_ != Camera::CameraPrepared) {
+	if (camera_->state_ != Camera::CameraConfigured) {
 		LOG(Allocator, Error)
 			<< "Camera must be in the configured state to allocate buffers";
 		return -EACCES;
@@ -163,7 +162,7 @@ int FrameBufferAllocator::allocate(Stream *stream)
  */
 int FrameBufferAllocator::free(Stream *stream)
 {
-	if (camera_->state_ != Camera::CameraConfigured && camera_->state_ != Camera::CameraPrepared) {
+	if (camera_->state_ != Camera::CameraConfigured) {
 		LOG(Allocator, Error)
 			<< "Camera must be in the configured state to free buffers";
 		return -EACCES;
diff --git a/src/libcamera/pipeline_handler.cpp b/src/libcamera/pipeline_handler.cpp
index 2fd65b468b9cd84f..669097f609ab7168 100644
--- a/src/libcamera/pipeline_handler.cpp
+++ b/src/libcamera/pipeline_handler.cpp
@@ -301,6 +301,11 @@ const ControlInfoMap &PipelineHandler::controls(Camera *camera)
  * suitable to be added to a Request for the stream, and shall be mappable to
  * the CPU through their associated dmabufs with mmap().
  *
+ * The method may only be called after the Camera has been configured and before
+ * it gets started, or after it gets stopped. It shall be called only for
+ * streams that are part of the active camera configuration, and at most once
+ * per stream until buffers for the stream are freed with freeFrameBuffers().
+ *
  * exportFrameBuffers() shall also allocate all other resources required by
  * the pipeline handler for the stream to prepare for starting the Camera. This
  * responsibility is shared with importFrameBuffers(), and one and only one of
diff --git a/src/qcam/main_window.cpp b/src/qcam/main_window.cpp
index 047bf15ea7c188f7..1d9c756f147a59f7 100644
--- a/src/qcam/main_window.cpp
+++ b/src/qcam/main_window.cpp
@@ -172,13 +172,6 @@ int MainWindow::startCapture()
 
 	adjustSize();
 
-	ret = camera_->allocateBuffers();
-	if (ret) {
-		std::cerr << "Failed to allocate buffers"
-			  << std::endl;
-		return ret;
-	}
-
 	ret = allocator_->allocate(stream);
 	if (ret < 0) {
 		std::cerr << "Failed to allocate capture buffers" << std::endl;
@@ -244,7 +237,6 @@ error:
 	}
 	mappedBuffers_.clear();
 
-	camera_->freeBuffers();
 	return ret;
 }
 
@@ -264,7 +256,6 @@ void MainWindow::stopCapture()
 	}
 	mappedBuffers_.clear();
 
-	camera_->freeBuffers();
 	isCapturing_ = false;
 
 	config_.reset();
diff --git a/src/v4l2/v4l2_camera.cpp b/src/v4l2/v4l2_camera.cpp
index 10db15d6276d9bf3..44cb4e7c551be759 100644
--- a/src/v4l2/v4l2_camera.cpp
+++ b/src/v4l2/v4l2_camera.cpp
@@ -121,10 +121,6 @@ int V4L2Camera::configure(StreamConfiguration *streamConfigOut,
 
 int V4L2Camera::allocBuffers(unsigned int count)
 {
-	int ret = camera_->allocateBuffers();
-	if (ret)
-		return ret == -EACCES ? -EBUSY : ret;
-
 	Stream *stream = *camera_->streams().begin();
 
 	return bufferAllocator_->allocate(stream);
@@ -134,7 +130,6 @@ void V4L2Camera::freeBuffers()
 {
 	Stream *stream = *camera_->streams().begin();
 	bufferAllocator_->free(stream);
-	camera_->freeBuffers();
 }
 
 FileDescriptor V4L2Camera::getBufferFd(unsigned int index)
diff --git a/test/camera/buffer_import.cpp b/test/camera/buffer_import.cpp
index f506d1b221e568ad..e7048335e0317703 100644
--- a/test/camera/buffer_import.cpp
+++ b/test/camera/buffer_import.cpp
@@ -174,11 +174,6 @@ protected:
 			return TestFail;
 		}
 
-		if (camera_->allocateBuffers()) {
-			std::cout << "Failed to allocate buffers" << std::endl;
-			return TestFail;
-		}
-
 		Stream *stream = cfg.stream();
 
 		BufferSource source;
@@ -244,11 +239,6 @@ protected:
 			return TestFail;
 		}
 
-		if (camera_->freeBuffers()) {
-			std::cout << "Failed to free buffers" << std::endl;
-			return TestFail;
-		}
-
 		return TestPass;
 	}
 
diff --git a/test/camera/capture.cpp b/test/camera/capture.cpp
index de879ee4eb1420a6..b304d59c1c2aa9e2 100644
--- a/test/camera/capture.cpp
+++ b/test/camera/capture.cpp
@@ -87,11 +87,6 @@ protected:
 			return TestFail;
 		}
 
-		if (camera_->allocateBuffers()) {
-			cout << "Failed to allocate buffers" << endl;
-			return TestFail;
-		}
-
 		Stream *stream = cfg.stream();
 
 		int ret = allocator_->allocate(stream);
@@ -158,11 +153,6 @@ protected:
 			return TestFail;
 		}
 
-		if (camera_->freeBuffers()) {
-			cout << "Failed to free buffers" << endl;
-			return TestFail;
-		}
-
 		return TestPass;
 	}
 
diff --git a/test/camera/statemachine.cpp b/test/camera/statemachine.cpp
index f3a7ca7c32a5ec97..20541b3e4752dc81 100644
--- a/test/camera/statemachine.cpp
+++ b/test/camera/statemachine.cpp
@@ -29,12 +29,6 @@ protected:
 		if (camera_->configure(defconf_.get()) != -EACCES)
 			return TestFail;
 
-		if (camera_->allocateBuffers() != -EACCES)
-			return TestFail;
-
-		if (camera_->freeBuffers() != -EACCES)
-			return TestFail;
-
 		if (camera_->createRequest())
 			return TestFail;
 
@@ -65,12 +59,6 @@ protected:
 		if (camera_->acquire() != -EBUSY)
 			return TestFail;
 
-		if (camera_->allocateBuffers() != -EACCES)
-			return TestFail;
-
-		if (camera_->freeBuffers() != -EACCES)
-			return TestFail;
-
 		if (camera_->createRequest())
 			return TestFail;
 
@@ -103,57 +91,6 @@ protected:
 		if (camera_->acquire() != -EBUSY)
 			return TestFail;
 
-		if (camera_->freeBuffers() != -EACCES)
-			return TestFail;
-
-		if (camera_->createRequest())
-			return TestFail;
-
-		Request request(camera_.get());
-		if (camera_->queueRequest(&request) != -EACCES)
-			return TestFail;
-
-		if (camera_->start() != -EACCES)
-			return TestFail;
-
-		if (camera_->stop() != -EACCES)
-			return TestFail;
-
-		/* Test operations which should pass. */
-		if (camera_->configure(defconf_.get()))
-			return TestFail;
-
-		/* Test valid state transitions, end in Prepared state. */
-		if (camera_->release())
-			return TestFail;
-
-		if (camera_->acquire())
-			return TestFail;
-
-		if (camera_->configure(defconf_.get()))
-			return TestFail;
-
-		if (camera_->allocateBuffers())
-			return TestFail;
-
-		return TestPass;
-	}
-
-	int testPrepared()
-	{
-		/* Test operations which should fail. */
-		if (camera_->acquire() != -EBUSY)
-			return TestFail;
-
-		if (camera_->release() != -EBUSY)
-			return TestFail;
-
-		if (camera_->configure(defconf_.get()) != -EACCES)
-			return TestFail;
-
-		if (camera_->allocateBuffers() != -EACCES)
-			return TestFail;
-
 		Request request1(camera_.get());
 		if (camera_->queueRequest(&request1) != -EACCES)
 			return TestFail;
@@ -170,9 +107,6 @@ protected:
 		delete request2;
 
 		/* Test valid state transitions, end in Running state. */
-		if (camera_->freeBuffers())
-			return TestFail;
-
 		if (camera_->release())
 			return TestFail;
 
@@ -182,9 +116,6 @@ protected:
 		if (camera_->configure(defconf_.get()))
 			return TestFail;
 
-		if (camera_->allocateBuffers())
-			return TestFail;
-
 		/* Use internally allocated buffers. */
 		allocator_ = FrameBufferAllocator::create(camera_);
 		Stream *stream = *camera_->streams().begin();
@@ -209,12 +140,6 @@ protected:
 		if (camera_->configure(defconf_.get()) != -EACCES)
 			return TestFail;
 
-		if (camera_->allocateBuffers() != -EACCES)
-			return TestFail;
-
-		if (camera_->freeBuffers() != -EACCES)
-			return TestFail;
-
 		if (camera_->start() != -EACCES)
 			return TestFail;
 
@@ -236,9 +161,6 @@ protected:
 
 		delete allocator_;
 
-		if (camera_->freeBuffers())
-			return TestFail;
-
 		if (camera_->release())
 			return TestFail;
 
@@ -276,11 +198,6 @@ protected:
 			return TestFail;
 		}
 
-		if (testPrepared() != TestPass) {
-			cout << "State machine in Prepared state failed" << endl;
-			return TestFail;
-		}
-
 		if (testRuning() != TestPass) {
 			cout << "State machine in Running state failed" << endl;
 			return TestFail;