diff --git a/code/XMLTester.xml b/code/XMLTester.xml
index fc97e0a72..c6281d54f 100644
--- a/code/XMLTester.xml
+++ b/code/XMLTester.xml
@@ -3907,6 +3907,9 @@
 </struct>
 <!--><-->
 <struct name="MembersExample">
+<!-->XML-MEMBER_WITH_KEY<-->
+<member name="my_long" type="int32" key="true"/>
+<!--><-->
 <!-->XML-BOUNDEDSTRINGS<-->
 <member name="my_large_string" type="string" stringMaxLength="41925"/>
 <member name="my_large_wstring" type="wstring" stringMaxLength="20925"/>
diff --git a/docs/fastdds/xml_configuration/dynamic_types.rst b/docs/fastdds/xml_configuration/dynamic_types.rst
index 2732f0752..df1cc6f4e 100644
--- a/docs/fastdds/xml_configuration/dynamic_types.rst
+++ b/docs/fastdds/xml_configuration/dynamic_types.rst
@@ -60,6 +60,12 @@ Member types
 Member types are defined as any type that can belong to a `Struct`_ or a `Union`_, or be aliased by a
 `Typedef`_.
 These can be defined by the ``<member>`` XML tag.
+A member can be annotated as ``key`` (equivalent of the IDL's ``@key``) by setting the ``key`` attribute to ``"true"``.
+
+.. literalinclude:: /../code/XMLTester.xml
+  :language: xml
+  :start-after: <!-->XML-MEMBER_WITH_KEY<-->
+  :end-before: <!--><-->
 
 Primitive types
 ***************