  We determine the boundary terms of the free higher-spin action which
reproduce the AdS Fronsdal equations in an AdS manifold with a finite distance
boundary. The boundary terms are further constrained by the gauge invariance of
the total action. We show that, for spins larger than two, no local boundary
term can restore the full gauge symmetry, and the broken symmetry corresponds
to higher-spin Weyl transformations on the boundary CFT. The boundary action is
used for the evaluation of the on-shell higher-spin AdS action in terms of the
boundary data given by a conformal higher-spin field.
