diff --git a/src/cpp/fastdds/core/policy/QosPoliciesSerializer.hpp b/src/cpp/fastdds/core/policy/QosPoliciesSerializer.hpp
index f068979c50a..3c7830c253b 100644
--- a/src/cpp/fastdds/core/policy/QosPoliciesSerializer.hpp
+++ b/src/cpp/fastdds/core/policy/QosPoliciesSerializer.hpp
@@ -855,7 +855,7 @@ inline bool QosPoliciesSerializer<DataSharingQosPolicy>::read_content_from_cdr_m
     uint32_t pos_ref = cdr_message->pos;
 
     // If the parameter is sent, the remote endpoint is datasharing compatible
-    qos_policy.automatic();
+    qos_policy.on(".");
 
     uint32_t num_domains = 0;
     bool valid = fastrtps::rtps::CDRMessage::readUInt32(cdr_message, &num_domains);
diff --git a/src/cpp/rtps/builtin/data/ReaderProxyData.cpp b/src/cpp/rtps/builtin/data/ReaderProxyData.cpp
index 896e2a875f8..097e152b670 100644
--- a/src/cpp/rtps/builtin/data/ReaderProxyData.cpp
+++ b/src/cpp/rtps/builtin/data/ReaderProxyData.cpp
@@ -994,6 +994,7 @@ bool ReaderProxyData::readFromCDRMessage(
                                     "Received with error.");
                             return false;
                         }
+
                         break;
                     }
 
@@ -1008,6 +1009,7 @@ bool ReaderProxyData::readFromCDRMessage(
 
     uint32_t qos_size;
     clear();
+    m_qos.data_sharing.off();
     try
     {
         if (ParameterList::readParameterListfromCDRMsg(*msg, param_process, true, qos_size))
diff --git a/src/cpp/rtps/builtin/data/WriterProxyData.cpp b/src/cpp/rtps/builtin/data/WriterProxyData.cpp
index ebef33e3cd1..edb7f6e7ba1 100644
--- a/src/cpp/rtps/builtin/data/WriterProxyData.cpp
+++ b/src/cpp/rtps/builtin/data/WriterProxyData.cpp
@@ -986,6 +986,7 @@ bool WriterProxyData::readFromCDRMessage(
 
     uint32_t qos_size;
     clear();
+    m_qos.data_sharing.off();
     try
     {
         if (ParameterList::readParameterListfromCDRMsg(*msg, param_process, true, qos_size))
diff --git a/test/unittest/rtps/builtin/BuiltinDataSerializationTests.cpp b/test/unittest/rtps/builtin/BuiltinDataSerializationTests.cpp
index 930dbe2d03b..22533b8cd24 100644
--- a/test/unittest/rtps/builtin/BuiltinDataSerializationTests.cpp
+++ b/test/unittest/rtps/builtin/BuiltinDataSerializationTests.cpp
@@ -129,6 +129,86 @@ TEST(BuiltinDataSerializationTests, ok_with_defaults)
     }
 }
 
+TEST(BuiltinDataSerializationTests, msg_without_datasharing)
+{
+    {
+        uint8_t data_r_buffer[] =
+        {
+            // Encapsulation
+            0x00, 0x03, 0x00, 0x00
+        };
+
+        CDRMessage_t msg(0);
+        msg.init(data_r_buffer, static_cast<uint32_t>(sizeof(data_r_buffer)));
+        msg.length = msg.max_size;
+
+        ReaderProxyData out(max_unicast_locators, max_multicast_locators);
+        out.readFromCDRMessage(&msg, network, false);
+        ASSERT_EQ(out.m_qos.data_sharing.kind(), OFF);
+    }
+
+    {
+        uint8_t data_w_buffer[] =
+        {
+            // Encapsulation
+            0x00, 0x03, 0x00, 0x00
+
+        };
+
+        CDRMessage_t msg(0);
+        msg.init(data_w_buffer, static_cast<uint32_t>(sizeof(data_w_buffer)));
+        msg.length = msg.max_size;
+
+        ReaderProxyData out(max_unicast_locators, max_multicast_locators);
+        out.readFromCDRMessage(&msg, network, false);
+        ASSERT_EQ(out.m_qos.data_sharing.kind(), OFF);
+    }
+}
+
+TEST(BuiltinDataSerializationTests, msg_with_datasharing)
+{
+    {
+        uint8_t data_r_buffer[] =
+        {
+            // Encapsulation
+            0x00, 0x03, 0x00, 0x00,
+            //Data Sharing
+            0x06, 0x80, 0x0c, 0x00,
+            0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x6c, 0x9b, 0xf9, 0xbe, 0x1c, 0xb8
+
+        };
+
+        CDRMessage_t msg(0);
+        msg.init(data_r_buffer, static_cast<uint32_t>(sizeof(data_r_buffer)));
+        msg.length = msg.max_size;
+
+        ReaderProxyData out(max_unicast_locators, max_multicast_locators);
+        out.readFromCDRMessage(&msg, network, false);
+        ASSERT_EQ(out.m_qos.data_sharing.kind(), ON);
+    }
+
+    {
+        uint8_t data_w_buffer[] =
+        {
+            // Encapsulation
+            0x00, 0x03, 0x00, 0x00,
+            //Data Sharing
+            0x06, 0x80, 0x0c, 0x00,
+            0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x6c, 0x9b, 0xf9, 0xbe, 0x1c, 0xb8
+
+        };
+
+        CDRMessage_t msg(0);
+        msg.init(data_w_buffer, static_cast<uint32_t>(sizeof(data_w_buffer)));
+        msg.length = msg.max_size;
+
+        ReaderProxyData out(max_unicast_locators, max_multicast_locators);
+        out.readFromCDRMessage(&msg, network, false);
+        ASSERT_EQ(out.m_qos.data_sharing.kind(), ON);
+    }
+}
+
+
 // Regression test for redmine issue #10547
 TEST(BuiltinDataSerializationTests, ignore_unsupported_type_info)
 {