diff --git a/docs/fastdds/security/includes/intro.rst b/docs/fastdds/security/includes/intro.rst
index b9d8b0e9c..031c7c053 100644
--- a/docs/fastdds/security/includes/intro.rst
+++ b/docs/fastdds/security/includes/intro.rst
@@ -44,4 +44,7 @@ and its value (:class:`std::string`).
   However, it is possible to configure basic system security settings, i.e. authentication, access control and
   encryption, to Fast DDS without this knowledge.
 
+.. warning::
+  The use of security plugins is incompatible with :ref:`Data-sharing delivery <datasharing-delivery>`.
+
 The following sections describe how to configure each of these properties to set up the Fast DDS security plugins.
diff --git a/docs/fastdds/transport/datasharing.rst b/docs/fastdds/transport/datasharing.rst
index 14b2ebf45..20e1938c1 100644
--- a/docs/fastdds/transport/datasharing.rst
+++ b/docs/fastdds/transport/datasharing.rst
@@ -61,6 +61,7 @@ This feature is available only if the following requirements are met:
   i.e., its |TopicDataType::is_bounded-api| member function returns true.
 * The Topic :ref:`is not keyed<dds_layer_topic_keyed_data_types>`.
 * The DataWriter is configured with |PREALLOCATED_MEMORY_MODE-api| or |PREALLOCATED_WITH_REALLOC_MEMORY_MODE-api|.
+* No :ref:`security <security>` plugins are used.
 
 There is also a limitation with the DataReader's HistoryQos.
 Using Data-sharing mechanism, the DataWriter's history is shared with the DataReaders.