diff --git a/rmw_fastrtps_cpp/src/type_support_common.cpp b/rmw_fastrtps_cpp/src/type_support_common.cpp
index ef5567641..25bdb86a4 100644
--- a/rmw_fastrtps_cpp/src/type_support_common.cpp
+++ b/rmw_fastrtps_cpp/src/type_support_common.cpp
@@ -54,6 +54,8 @@ void TypeSupport::set_members(const message_type_support_callbacks_t * members)
 
   // Total size is encapsulation size + data size
   m_typeSize = 4 + data_size;
+  // Account for RTPS submessage alignment
+  m_typeSize = (m_typeSize + 3) & ~3;
 }
 
 size_t TypeSupport::getEstimatedSerializedSize(const void * ros_message, const void * impl) const
diff --git a/rmw_fastrtps_dynamic_cpp/include/rmw_fastrtps_dynamic_cpp/MessageTypeSupport_impl.hpp b/rmw_fastrtps_dynamic_cpp/include/rmw_fastrtps_dynamic_cpp/MessageTypeSupport_impl.hpp
index a21e20721..95f48e996 100644
--- a/rmw_fastrtps_dynamic_cpp/include/rmw_fastrtps_dynamic_cpp/MessageTypeSupport_impl.hpp
+++ b/rmw_fastrtps_dynamic_cpp/include/rmw_fastrtps_dynamic_cpp/MessageTypeSupport_impl.hpp
@@ -60,6 +60,8 @@ MessageTypeSupport<MembersType>::MessageTypeSupport(
   } else {
     this->m_typeSize++;
   }
+  // Account for RTPS submessage alignment
+  this->m_typeSize = (this->m_typeSize + 3) & ~3;
 }
 
 }  // namespace rmw_fastrtps_dynamic_cpp
diff --git a/rmw_fastrtps_dynamic_cpp/include/rmw_fastrtps_dynamic_cpp/ServiceTypeSupport_impl.hpp b/rmw_fastrtps_dynamic_cpp/include/rmw_fastrtps_dynamic_cpp/ServiceTypeSupport_impl.hpp
index 467703712..45e3fc602 100644
--- a/rmw_fastrtps_dynamic_cpp/include/rmw_fastrtps_dynamic_cpp/ServiceTypeSupport_impl.hpp
+++ b/rmw_fastrtps_dynamic_cpp/include/rmw_fastrtps_dynamic_cpp/ServiceTypeSupport_impl.hpp
@@ -59,6 +59,8 @@ RequestTypeSupport<ServiceMembersType, MessageMembersType>::RequestTypeSupport(
   } else {
     this->m_typeSize++;
   }
+  // Account for RTPS submessage alignment
+  this->m_typeSize = (this->m_typeSize + 3) & ~3;
 }
 
 template<typename ServiceMembersType, typename MessageMembersType>
@@ -90,6 +92,8 @@ ResponseTypeSupport<ServiceMembersType, MessageMembersType>::ResponseTypeSupport
   } else {
     this->m_typeSize++;
   }
+  // Account for RTPS submessage alignment
+  this->m_typeSize = (this->m_typeSize + 3) & ~3;
 }
 
 }  // namespace rmw_fastrtps_dynamic_cpp