diff --git a/code/XMLTester.xml b/code/XMLTester.xml
index 31691445a..7d437cecf 100644
--- a/code/XMLTester.xml
+++ b/code/XMLTester.xml
@@ -1441,6 +1441,9 @@
 </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"/>
 
diff --git a/docs/fastdds/xml_configuration/dynamic_types.rst b/docs/fastdds/xml_configuration/dynamic_types.rst
index 1bc5cd40c..62a1936af 100644
--- a/docs/fastdds/xml_configuration/dynamic_types.rst
+++ b/docs/fastdds/xml_configuration/dynamic_types.rst
@@ -161,6 +161,12 @@ 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
 ***************