diff --git a/prudp_endpoint.go b/prudp_endpoint.go
index f070353..87c31bb 100644
--- a/prudp_endpoint.go
+++ b/prudp_endpoint.go
@@ -23,6 +23,7 @@ type PRUDPEndPoint struct {
 	StreamID                     uint8
 	DefaultStreamSettings        *StreamSettings
 	Connections                  *MutexMap[string, *PRUDPConnection]
+	packetHandlers               map[uint16]func(packet PRUDPPacketInterface)
 	packetEventHandlers          map[string][]func(packet PacketInterface)
 	connectionEndedEventHandlers []func(connection *PRUDPConnection)
 	errorEventHandlers           []func(err *Error)
@@ -39,6 +40,11 @@ func (pep *PRUDPEndPoint) RegisterServiceProtocol(protocol ServiceProtocol) {
 	pep.OnData(protocol.HandlePacket)
 }
 
+// RegisterCustomPacketHandler registers a custom handler for a given packet type. Used to override existing handlers or create new ones for custom packet types.
+func (pep *PRUDPEndPoint) RegisterCustomPacketHandler(packetType uint16, handler func(packet PRUDPPacketInterface)) {
+	pep.packetHandlers[packetType] = handler
+}
+
 // OnData adds an event handler which is fired when a new DATA packet is received
 func (pep *PRUDPEndPoint) OnData(handler func(packet PacketInterface)) {
 	pep.on("data", handler)
@@ -119,17 +125,10 @@ func (pep *PRUDPEndPoint) processPacket(packet PRUDPPacketInterface, socket *Soc
 		return
 	}
 
-	switch packet.Type() {
-	case constants.SynPacket:
-		pep.handleSyn(packet)
-	case constants.ConnectPacket:
-		pep.handleConnect(packet)
-	case constants.DataPacket:
-		pep.handleData(packet)
-	case constants.DisconnectPacket:
-		pep.handleDisconnect(packet)
-	case constants.PingPacket:
-		pep.handlePing(packet)
+	if packetHandler, ok := pep.packetHandlers[packet.Type()]; ok {
+		packetHandler(packet)
+	} else {
+		logger.Warningf("Unhandled packet type %d", packet.Type())
 	}
 }
 
@@ -721,14 +720,23 @@ func (pep *PRUDPEndPoint) EnableVerboseRMC(enable bool) {
 
 // NewPRUDPEndPoint returns a new PRUDPEndPoint for a server on the provided stream ID
 func NewPRUDPEndPoint(streamID uint8) *PRUDPEndPoint {
-	return &PRUDPEndPoint{
+	pep := &PRUDPEndPoint{
 		StreamID:                     streamID,
 		DefaultStreamSettings:        NewStreamSettings(),
 		Connections:                  NewMutexMap[string, *PRUDPConnection](),
+		packetHandlers:               make(map[uint16]func(packet PRUDPPacketInterface)),
 		packetEventHandlers:          make(map[string][]func(PacketInterface)),
 		connectionEndedEventHandlers: make([]func(connection *PRUDPConnection), 0),
 		errorEventHandlers:           make([]func(err *Error), 0),
 		ConnectionIDCounter:          NewCounter[uint32](0),
 		IsSecureEndPoint:             false,
 	}
+
+	pep.packetHandlers[constants.SynPacket] = pep.handleSyn
+	pep.packetHandlers[constants.ConnectPacket] = pep.handleConnect
+	pep.packetHandlers[constants.DataPacket] = pep.handleData
+	pep.packetHandlers[constants.DisconnectPacket] = pep.handleDisconnect
+	pep.packetHandlers[constants.PingPacket] = pep.handlePing
+
+	return pep
 }
diff --git a/prudp_packet_v0.go b/prudp_packet_v0.go
index 447135f..47eb761 100644
--- a/prudp_packet_v0.go
+++ b/prudp_packet_v0.go
@@ -100,10 +100,6 @@ func (p *PRUDPPacketV0) decode() error {
 		p.packetType = typeAndFlags & 0xF
 	}
 
-	if p.packetType > constants.PingPacket {
-		return errors.New("Invalid PRUDPv0 packet type")
-	}
-
 	p.sessionID, err = p.readStream.ReadPrimitiveUInt8()
 	if err != nil {
 		return fmt.Errorf("Failed to read PRUDPv0 session ID. %s", err.Error())
diff --git a/prudp_packet_v1.go b/prudp_packet_v1.go
index 9a34308..ec6f7e4 100644
--- a/prudp_packet_v1.go
+++ b/prudp_packet_v1.go
@@ -176,10 +176,6 @@ func (p *PRUDPPacketV1) decodeHeader() error {
 	p.flags = typeAndFlags >> 4
 	p.packetType = typeAndFlags & 0xF
 
-	if p.packetType > constants.PingPacket {
-		return errors.New("Invalid PRUDPv1 packet type")
-	}
-
 	p.sessionID, err = p.readStream.ReadPrimitiveUInt8()
 	if err != nil {
 		return fmt.Errorf("Failed to read PRUDPv1 session ID. %s", err.Error())