diff --git a/examples/client-read-format-h264-save-to-disk/mpegtsmuxer.go b/examples/client-read-format-h264-save-to-disk/mpegtsmuxer.go
index db499377..7a8fe870 100644
--- a/examples/client-read-format-h264-save-to-disk/mpegtsmuxer.go
+++ b/examples/client-read-format-h264-save-to-disk/mpegtsmuxer.go
@@ -7,7 +7,7 @@ import (
 	"os"
 	"time"
 
-	"github.com/aler9/gortsplib/v2/pkg/h264"
+	"github.com/aler9/gortsplib/v2/pkg/codecs/h264"
 	"github.com/asticode/go-astits"
 )
 
diff --git a/examples/server-h264-save-to-disk/mpegtsmuxer.go b/examples/server-h264-save-to-disk/mpegtsmuxer.go
index db499377..7a8fe870 100644
--- a/examples/server-h264-save-to-disk/mpegtsmuxer.go
+++ b/examples/server-h264-save-to-disk/mpegtsmuxer.go
@@ -7,7 +7,7 @@ import (
 	"os"
 	"time"
 
-	"github.com/aler9/gortsplib/v2/pkg/h264"
+	"github.com/aler9/gortsplib/v2/pkg/codecs/h264"
 	"github.com/asticode/go-astits"
 )
 
diff --git a/pkg/codecs/codecs.go b/pkg/codecs/codecs.go
new file mode 100644
index 00000000..de008c72
--- /dev/null
+++ b/pkg/codecs/codecs.go
@@ -0,0 +1,2 @@
+// Package codecs contains codec-specific utilities.
+package codecs
diff --git a/pkg/h264/annexb.go b/pkg/codecs/h264/annexb.go
similarity index 100%
rename from pkg/h264/annexb.go
rename to pkg/codecs/h264/annexb.go
diff --git a/pkg/h264/annexb_test.go b/pkg/codecs/h264/annexb_test.go
similarity index 100%
rename from pkg/h264/annexb_test.go
rename to pkg/codecs/h264/annexb_test.go
diff --git a/pkg/h264/avcc.go b/pkg/codecs/h264/avcc.go
similarity index 100%
rename from pkg/h264/avcc.go
rename to pkg/codecs/h264/avcc.go
diff --git a/pkg/h264/avcc_test.go b/pkg/codecs/h264/avcc_test.go
similarity index 100%
rename from pkg/h264/avcc_test.go
rename to pkg/codecs/h264/avcc_test.go
diff --git a/pkg/h264/dtsextractor.go b/pkg/codecs/h264/dtsextractor.go
similarity index 100%
rename from pkg/h264/dtsextractor.go
rename to pkg/codecs/h264/dtsextractor.go
diff --git a/pkg/h264/dtsextractor_test.go b/pkg/codecs/h264/dtsextractor_test.go
similarity index 100%
rename from pkg/h264/dtsextractor_test.go
rename to pkg/codecs/h264/dtsextractor_test.go
diff --git a/pkg/h264/emulationprevention.go b/pkg/codecs/h264/emulationprevention.go
similarity index 100%
rename from pkg/h264/emulationprevention.go
rename to pkg/codecs/h264/emulationprevention.go
diff --git a/pkg/h264/emulationprevention_test.go b/pkg/codecs/h264/emulationprevention_test.go
similarity index 100%
rename from pkg/h264/emulationprevention_test.go
rename to pkg/codecs/h264/emulationprevention_test.go
diff --git a/pkg/h264/h264.go b/pkg/codecs/h264/h264.go
similarity index 100%
rename from pkg/h264/h264.go
rename to pkg/codecs/h264/h264.go
diff --git a/pkg/h264/idrpresent.go b/pkg/codecs/h264/idrpresent.go
similarity index 100%
rename from pkg/h264/idrpresent.go
rename to pkg/codecs/h264/idrpresent.go
diff --git a/pkg/h264/idrpresent_test.go b/pkg/codecs/h264/idrpresent_test.go
similarity index 100%
rename from pkg/h264/idrpresent_test.go
rename to pkg/codecs/h264/idrpresent_test.go
diff --git a/pkg/h264/nalutype.go b/pkg/codecs/h264/nalutype.go
similarity index 100%
rename from pkg/h264/nalutype.go
rename to pkg/codecs/h264/nalutype.go
diff --git a/pkg/h264/nalutype_test.go b/pkg/codecs/h264/nalutype_test.go
similarity index 100%
rename from pkg/h264/nalutype_test.go
rename to pkg/codecs/h264/nalutype_test.go
diff --git a/pkg/h264/sps.go b/pkg/codecs/h264/sps.go
similarity index 100%
rename from pkg/h264/sps.go
rename to pkg/codecs/h264/sps.go
diff --git a/pkg/h264/sps_test.go b/pkg/codecs/h264/sps_test.go
similarity index 100%
rename from pkg/h264/sps_test.go
rename to pkg/codecs/h264/sps_test.go
diff --git a/pkg/h265/h265.go b/pkg/codecs/h265/h265.go
similarity index 100%
rename from pkg/h265/h265.go
rename to pkg/codecs/h265/h265.go
diff --git a/pkg/h265/nalutype.go b/pkg/codecs/h265/nalutype.go
similarity index 100%
rename from pkg/h265/nalutype.go
rename to pkg/codecs/h265/nalutype.go
diff --git a/pkg/h265/nalutype_test.go b/pkg/codecs/h265/nalutype_test.go
similarity index 100%
rename from pkg/h265/nalutype_test.go
rename to pkg/codecs/h265/nalutype_test.go
diff --git a/pkg/h265/sps.go b/pkg/codecs/h265/sps.go
similarity index 99%
rename from pkg/h265/sps.go
rename to pkg/codecs/h265/sps.go
index 4fd2e769..223581a7 100644
--- a/pkg/h265/sps.go
+++ b/pkg/codecs/h265/sps.go
@@ -4,7 +4,7 @@ import (
 	"fmt"
 
 	"github.com/aler9/gortsplib/v2/pkg/bits"
-	"github.com/aler9/gortsplib/v2/pkg/h264"
+	"github.com/aler9/gortsplib/v2/pkg/codecs/h264"
 )
 
 var subWidthC = []uint32{
diff --git a/pkg/h265/sps_test.go b/pkg/codecs/h265/sps_test.go
similarity index 100%
rename from pkg/h265/sps_test.go
rename to pkg/codecs/h265/sps_test.go
diff --git a/pkg/formatdecenc/rtpmjpeg/jpeg/define_huffman_table.go b/pkg/codecs/jpeg/define_huffman_table.go
similarity index 100%
rename from pkg/formatdecenc/rtpmjpeg/jpeg/define_huffman_table.go
rename to pkg/codecs/jpeg/define_huffman_table.go
diff --git a/pkg/formatdecenc/rtpmjpeg/jpeg/define_huffman_table_test.go b/pkg/codecs/jpeg/define_huffman_table_test.go
similarity index 100%
rename from pkg/formatdecenc/rtpmjpeg/jpeg/define_huffman_table_test.go
rename to pkg/codecs/jpeg/define_huffman_table_test.go
diff --git a/pkg/formatdecenc/rtpmjpeg/jpeg/define_quantization_table.go b/pkg/codecs/jpeg/define_quantization_table.go
similarity index 100%
rename from pkg/formatdecenc/rtpmjpeg/jpeg/define_quantization_table.go
rename to pkg/codecs/jpeg/define_quantization_table.go
diff --git a/pkg/formatdecenc/rtpmjpeg/jpeg/define_quantization_table_test.go b/pkg/codecs/jpeg/define_quantization_table_test.go
similarity index 100%
rename from pkg/formatdecenc/rtpmjpeg/jpeg/define_quantization_table_test.go
rename to pkg/codecs/jpeg/define_quantization_table_test.go
diff --git a/pkg/formatdecenc/rtpmjpeg/jpeg/define_restart_interval.go b/pkg/codecs/jpeg/define_restart_interval.go
similarity index 100%
rename from pkg/formatdecenc/rtpmjpeg/jpeg/define_restart_interval.go
rename to pkg/codecs/jpeg/define_restart_interval.go
diff --git a/pkg/formatdecenc/rtpmjpeg/jpeg/define_restart_interval_test.go b/pkg/codecs/jpeg/define_restart_interval_test.go
similarity index 100%
rename from pkg/formatdecenc/rtpmjpeg/jpeg/define_restart_interval_test.go
rename to pkg/codecs/jpeg/define_restart_interval_test.go
diff --git a/pkg/formatdecenc/rtpmjpeg/jpeg/jpeg.go b/pkg/codecs/jpeg/jpeg.go
similarity index 100%
rename from pkg/formatdecenc/rtpmjpeg/jpeg/jpeg.go
rename to pkg/codecs/jpeg/jpeg.go
diff --git a/pkg/formatdecenc/rtpmjpeg/jpeg/start_of_frame1.go b/pkg/codecs/jpeg/start_of_frame1.go
similarity index 100%
rename from pkg/formatdecenc/rtpmjpeg/jpeg/start_of_frame1.go
rename to pkg/codecs/jpeg/start_of_frame1.go
diff --git a/pkg/formatdecenc/rtpmjpeg/jpeg/start_of_frame1_test.go b/pkg/codecs/jpeg/start_of_frame1_test.go
similarity index 100%
rename from pkg/formatdecenc/rtpmjpeg/jpeg/start_of_frame1_test.go
rename to pkg/codecs/jpeg/start_of_frame1_test.go
diff --git a/pkg/formatdecenc/rtpmjpeg/jpeg/start_of_image.go b/pkg/codecs/jpeg/start_of_image.go
similarity index 100%
rename from pkg/formatdecenc/rtpmjpeg/jpeg/start_of_image.go
rename to pkg/codecs/jpeg/start_of_image.go
diff --git a/pkg/formatdecenc/rtpmjpeg/jpeg/start_of_image_test.go b/pkg/codecs/jpeg/start_of_image_test.go
similarity index 100%
rename from pkg/formatdecenc/rtpmjpeg/jpeg/start_of_image_test.go
rename to pkg/codecs/jpeg/start_of_image_test.go
diff --git a/pkg/formatdecenc/rtpmjpeg/jpeg/start_of_scan.go b/pkg/codecs/jpeg/start_of_scan.go
similarity index 100%
rename from pkg/formatdecenc/rtpmjpeg/jpeg/start_of_scan.go
rename to pkg/codecs/jpeg/start_of_scan.go
diff --git a/pkg/formatdecenc/rtpmjpeg/jpeg/start_of_scan_test.go b/pkg/codecs/jpeg/start_of_scan_test.go
similarity index 100%
rename from pkg/formatdecenc/rtpmjpeg/jpeg/start_of_scan_test.go
rename to pkg/codecs/jpeg/start_of_scan_test.go
diff --git a/pkg/format/h264.go b/pkg/format/h264.go
index 324afa33..17027aef 100644
--- a/pkg/format/h264.go
+++ b/pkg/format/h264.go
@@ -10,8 +10,8 @@ import (
 
 	"github.com/pion/rtp"
 
+	"github.com/aler9/gortsplib/v2/pkg/codecs/h264"
 	"github.com/aler9/gortsplib/v2/pkg/formatdecenc/rtph264"
-	"github.com/aler9/gortsplib/v2/pkg/h264"
 )
 
 // check whether a RTP/H264 packet contains a IDR, without decoding the packet.
diff --git a/pkg/formatdecenc/rtph264/decoder.go b/pkg/formatdecenc/rtph264/decoder.go
index 204a5d1e..089a198b 100644
--- a/pkg/formatdecenc/rtph264/decoder.go
+++ b/pkg/formatdecenc/rtph264/decoder.go
@@ -8,7 +8,7 @@ import (
 
 	"github.com/pion/rtp"
 
-	"github.com/aler9/gortsplib/v2/pkg/h264"
+	"github.com/aler9/gortsplib/v2/pkg/codecs/h264"
 	"github.com/aler9/gortsplib/v2/pkg/rtptimedec"
 )
 
diff --git a/pkg/formatdecenc/rtph264/encoder.go b/pkg/formatdecenc/rtph264/encoder.go
index 7b70b10a..dc86f6e5 100644
--- a/pkg/formatdecenc/rtph264/encoder.go
+++ b/pkg/formatdecenc/rtph264/encoder.go
@@ -7,7 +7,7 @@ import (
 
 	"github.com/pion/rtp"
 
-	"github.com/aler9/gortsplib/v2/pkg/h264"
+	"github.com/aler9/gortsplib/v2/pkg/codecs/h264"
 )
 
 const (
diff --git a/pkg/formatdecenc/rtph265/decoder.go b/pkg/formatdecenc/rtph265/decoder.go
index 7e19f5bf..b8c2bbc6 100644
--- a/pkg/formatdecenc/rtph265/decoder.go
+++ b/pkg/formatdecenc/rtph265/decoder.go
@@ -7,7 +7,7 @@ import (
 
 	"github.com/pion/rtp"
 
-	"github.com/aler9/gortsplib/v2/pkg/h265"
+	"github.com/aler9/gortsplib/v2/pkg/codecs/h265"
 	"github.com/aler9/gortsplib/v2/pkg/rtptimedec"
 )
 
diff --git a/pkg/formatdecenc/rtpmjpeg/decoder.go b/pkg/formatdecenc/rtpmjpeg/decoder.go
index 83fecb93..94a37b6f 100644
--- a/pkg/formatdecenc/rtpmjpeg/decoder.go
+++ b/pkg/formatdecenc/rtpmjpeg/decoder.go
@@ -7,8 +7,8 @@ import (
 
 	"github.com/pion/rtp"
 
+	"github.com/aler9/gortsplib/v2/pkg/codecs/jpeg"
 	"github.com/aler9/gortsplib/v2/pkg/formatdecenc/rtpmjpeg/headers"
-	"github.com/aler9/gortsplib/v2/pkg/formatdecenc/rtpmjpeg/jpeg"
 	"github.com/aler9/gortsplib/v2/pkg/rtptimedec"
 )
 
diff --git a/pkg/formatdecenc/rtpmjpeg/encoder.go b/pkg/formatdecenc/rtpmjpeg/encoder.go
index e2eddb5e..77dc56c9 100644
--- a/pkg/formatdecenc/rtpmjpeg/encoder.go
+++ b/pkg/formatdecenc/rtpmjpeg/encoder.go
@@ -8,8 +8,8 @@ import (
 
 	"github.com/pion/rtp"
 
+	"github.com/aler9/gortsplib/v2/pkg/codecs/jpeg"
 	"github.com/aler9/gortsplib/v2/pkg/formatdecenc/rtpmjpeg/headers"
-	"github.com/aler9/gortsplib/v2/pkg/formatdecenc/rtpmjpeg/jpeg"
 )
 
 const (