diff --git a/rmw_fastrtps_shared_cpp/src/qos.cpp b/rmw_fastrtps_shared_cpp/src/qos.cpp
index 6b1425224..6027915a6 100644
--- a/rmw_fastrtps_shared_cpp/src/qos.cpp
+++ b/rmw_fastrtps_shared_cpp/src/qos.cpp
@@ -20,14 +20,16 @@
 #include "fastrtps/attributes/SubscriberAttributes.h"
 
 #include "rmw/error_handling.h"
+#include "rmw_dds_common/time_utils.hpp"
 
 static
 eprosima::fastrtps::Duration_t
 rmw_time_to_fastrtps(const rmw_time_t & time)
 {
+  rmw_time_t clamped_time = rmw_dds_common::clamp_rmw_time_to_dds_time(time);
   return eprosima::fastrtps::Duration_t(
-    static_cast<int32_t>(time.sec),
-    static_cast<uint32_t>(time.nsec));
+    static_cast<int32_t>(clamped_time.sec),
+    static_cast<uint32_t>(clamped_time.nsec));
 }
 
 static