diff --git a/fuzz/C++/fuzz_processCDRMsg/fuzz_processCDRMsg_seed_corpus/input_issue3236 b/fuzz/C++/fuzz_processCDRMsg/fuzz_processCDRMsg_seed_corpus/input_issue3236
new file mode 100644
index 00000000000..8e0df982d24
Binary files /dev/null and b/fuzz/C++/fuzz_processCDRMsg/fuzz_processCDRMsg_seed_corpus/input_issue3236 differ
diff --git a/src/cpp/rtps/messages/MessageReceiver.cpp b/src/cpp/rtps/messages/MessageReceiver.cpp
index 9c005f986b2..71f5da7b51b 100644
--- a/src/cpp/rtps/messages/MessageReceiver.cpp
+++ b/src/cpp/rtps/messages/MessageReceiver.cpp
@@ -1054,6 +1054,13 @@ bool MessageReceiver::proc_Submsg_Heartbeat(
     SequenceNumber_t lastSN;
     CDRMessage::readSequenceNumber(msg, &firstSN);
     CDRMessage::readSequenceNumber(msg, &lastSN);
+
+    SequenceNumber_t zeroSN;
+    if (firstSN <= zeroSN)
+    {
+        logWarning(RTPS_MSG_IN, IDSTRING "Invalid Heartbeat received (" << firstSN << " <= 0), ignoring");
+        return false;
+    }
     if (lastSN < firstSN && lastSN != firstSN - 1)
     {
         logWarning(RTPS_MSG_IN, IDSTRING "Invalid Heartbeat received (" << firstSN << ") - (" <<