diff --git a/rclcpp/include/rclcpp/time.hpp b/rclcpp/include/rclcpp/time.hpp
index 15e063d1d2..a931f3ac9c 100644
--- a/rclcpp/include/rclcpp/time.hpp
+++ b/rclcpp/include/rclcpp/time.hpp
@@ -57,6 +57,10 @@ class Time
   RCLCPP_PUBLIC
   Time(const Time & rhs);
 
+  /// Move constructor
+  RCLCPP_PUBLIC
+  Time(Time && rhs) noexcept;
+
   /// Time constructor
   /**
    * \param time_msg builtin_interfaces time message to copy
@@ -84,6 +88,7 @@ class Time
   operator builtin_interfaces::msg::Time() const;
 
   /**
+   * Copy assignment operator
    * \throws std::runtime_error if seconds are negative
    */
   RCLCPP_PUBLIC
@@ -100,6 +105,13 @@ class Time
   Time &
   operator=(const builtin_interfaces::msg::Time & time_msg);
 
+  /**
+   * Move assignment operator
+   */
+  RCLCPP_PUBLIC
+  Time &
+  operator=(Time && rhs) noexcept;
+
   /**
    * \throws std::runtime_error if the time sources are different
    */
diff --git a/rclcpp/src/rclcpp/time.cpp b/rclcpp/src/rclcpp/time.cpp
index a0be141312..978651516c 100644
--- a/rclcpp/src/rclcpp/time.cpp
+++ b/rclcpp/src/rclcpp/time.cpp
@@ -65,6 +65,8 @@ Time::Time(int64_t nanoseconds, rcl_clock_type_t clock_type)
 
 Time::Time(const Time & rhs) = default;
 
+Time::Time(Time && rhs) noexcept = default;
+
 Time::Time(
   const builtin_interfaces::msg::Time & time_msg,
   rcl_clock_type_t clock_type)
@@ -84,9 +86,7 @@ Time::Time(const rcl_time_point_t & time_point)
   // noop
 }
 
-Time::~Time()
-{
-}
+Time::~Time() = default;
 
 Time::operator builtin_interfaces::msg::Time() const
 {
@@ -103,6 +103,9 @@ Time::operator=(const builtin_interfaces::msg::Time & time_msg)
   return *this;
 }
 
+Time &
+Time::operator=(Time && rhs) noexcept = default;
+
 bool
 Time::operator==(const rclcpp::Time & rhs) const
 {