The objective of this paper is to propose a hyperbolic relaxation technique for the dispersive Serre-Green-Naghdi equations (also known as fully non-linear Boussinesq equations) with full topography effects introduced in Green, A.E. and Naghdi, P.M. (J. Fluid Mech., 78, 237-246, 1976) Seabra-Santos el al Mec.h, 176, 117-134, 1997). This done by revisiting similar Guermond Comput. Phys., 399, 10...