diff --git a/geometry_msgs/CMakeLists.txt b/geometry_msgs/CMakeLists.txt
index df9a8d6d..e3653c6e 100644
--- a/geometry_msgs/CMakeLists.txt
+++ b/geometry_msgs/CMakeLists.txt
@@ -43,6 +43,7 @@ set(msg_files
   "msg/TwistWithCovarianceStamped.msg"
   "msg/Vector3.msg"
   "msg/Vector3Stamped.msg"
+  "msg/VelocityStamped.msg"
   "msg/Wrench.msg"
   "msg/WrenchStamped.msg"
 )
diff --git a/geometry_msgs/msg/VelocityStamped.msg b/geometry_msgs/msg/VelocityStamped.msg
new file mode 100644
index 00000000..ff61c6ea
--- /dev/null
+++ b/geometry_msgs/msg/VelocityStamped.msg
@@ -0,0 +1,8 @@
+# This expresses the timestamped velocity vector of a frame 'body_frame_id' in the reference frame 'reference_frame_id' expressed from arbitrary observation frame 'header.frame_id'.
+# - If the 'body_frame_id' and 'header.frame_id' are identical, the velocity is observed and defined in the local coordinates system of the body
+#   which is the usual use-case in mobile robotics and is also known as a body twist.
+
+std_msgs/Header header
+string body_frame_id
+string reference_frame_id
+Twist velocity