diff --git a/rclcpp_action/include/rclcpp_action/server_goal_handle.hpp b/rclcpp_action/include/rclcpp_action/server_goal_handle.hpp
index d370662604..d49e17ab77 100644
--- a/rclcpp_action/include/rclcpp_action/server_goal_handle.hpp
+++ b/rclcpp_action/include/rclcpp_action/server_goal_handle.hpp
@@ -96,6 +96,7 @@ class ServerGoalHandle : public ServerGoalHandleBase
   void
   publish_feedback(std::shared_ptr<typename ACTION::Feedback> feedback_msg)
   {
+    feedback_msg->uuid = uuid_;
     _publish_feedback(std::static_pointer_cast<void>(feedback_msg));
   }
 
diff --git a/rclcpp_action/test/test_server.cpp b/rclcpp_action/test/test_server.cpp
index 15b6e3d97c..fbcfad14c6 100644
--- a/rclcpp_action/test/test_server.cpp
+++ b/rclcpp_action/test/test_server.cpp
@@ -543,6 +543,7 @@ TEST_F(TestServer, publish_feedback)
   ASSERT_EQ(1u, received_msgs.size());
   auto & msg = received_msgs.back();
   ASSERT_EQ(sent_message->sequence, msg->sequence);
+  ASSERT_EQ(uuid, msg->uuid);
 }
 
 TEST_F(TestServer, get_result)