We study the hole-spin relaxation in p-doped InAs quantum dots. Two relaxation mechanisms are evidenced, at low magnetic field (0 B 2T ) and low temperature (2 T 50K), by using a pump-probe configuration and a recent experimental technique working in the frequency domain. At T = 2K, the coupling to nuclear spins and the hole wave-function inhomogeneity fix the hole-spin relaxation rate value, h 1 ≈ 1 μs −1 . It decreases with increasing magnetic field and reaches a plateau at 0.4 μs −1 . At T 7K, two-phonon spin-orbit process dominates and leads to a quadratic temperature dependence of h 1 , in good agreement with theory.