diff --git a/rcl/include/rcl/timer.h b/rcl/include/rcl/timer.h
index ec08acf0b..f6fb4eabb 100644
--- a/rcl/include/rcl/timer.h
+++ b/rcl/include/rcl/timer.h
@@ -325,6 +325,30 @@ RCL_WARN_UNUSED
 rcl_ret_t
 rcl_timer_get_time_until_next_call(const rcl_timer_t * timer, int64_t * time_until_next_call);
 
+/// Retrieve the time when the next call to rcl_timer_call() shall occur.
+/**
+ * <hr>
+ * Attribute          | Adherence
+ * ------------------ | -------------
+ * Allocates Memory   | No
+ * Thread-Safe        | Yes
+ * Uses Atomics       | Yes
+ * Lock-Free          | Yes [1]
+ * <i>[1] if `atomic_is_lock_free()` returns true for `atomic_int_least64_t`</i>
+ *
+ * \param[in] timer the handle to the timer that is being queried
+ * \param[out] next_call_time the output variable for the result
+ * \return #RCL_RET_OK if the timer until next call was successfully calculated, or
+ * \return #RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
+ * \return #RCL_RET_TIMER_INVALID if the timer->impl is invalid, or
+ * \return #RCL_RET_TIMER_CANCELED if the timer is canceled, or
+ * \return #RCL_RET_ERROR an unspecified error occur.
+ */
+RCL_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_timer_get_next_call_time(const rcl_timer_t * timer, int64_t * next_call_time);
+
 /// Retrieve the time since the previous call to rcl_timer_call() occurred.
 /**
  * This function calculates the time since the last call and copies it into
diff --git a/rcl/src/rcl/timer.c b/rcl/src/rcl/timer.c
index 77239fb39..a3bbe7d43 100644
--- a/rcl/src/rcl/timer.c
+++ b/rcl/src/rcl/timer.c
@@ -309,6 +309,22 @@ rcl_timer_is_ready(const rcl_timer_t * timer, bool * is_ready)
   return RCL_RET_OK;
 }
 
+rcl_ret_t
+rcl_timer_get_next_call_time(const rcl_timer_t * timer, int64_t * next_call_time)
+{
+  RCL_CHECK_ARGUMENT_FOR_NULL(timer, RCL_RET_INVALID_ARGUMENT);
+  RCL_CHECK_ARGUMENT_FOR_NULL(timer->impl, RCL_RET_TIMER_INVALID);
+  RCL_CHECK_ARGUMENT_FOR_NULL(next_call_time, RCL_RET_INVALID_ARGUMENT);
+
+  if (rcutils_atomic_load_bool(&timer->impl->canceled)) {
+    return RCL_RET_TIMER_CANCELED;
+  }
+
+  *next_call_time =
+    rcutils_atomic_load_int64_t(&timer->impl->next_call_time);
+  return RCL_RET_OK;
+}
+
 rcl_ret_t
 rcl_timer_get_time_until_next_call(const rcl_timer_t * timer, int64_t * time_until_next_call)
 {