diff --git a/rclcpp/include/rclcpp/exceptions/exceptions.hpp b/rclcpp/include/rclcpp/exceptions/exceptions.hpp
index 36ffc06c49..b3a53373ed 100644
--- a/rclcpp/include/rclcpp/exceptions/exceptions.hpp
+++ b/rclcpp/include/rclcpp/exceptions/exceptions.hpp
@@ -206,6 +206,14 @@ class UnknownROSArgsError : public std::runtime_error
   const std::vector<std::string> unknown_ros_args;
 };
 
+/// Thrown when an unknown type is passed
+class UnknownTypeError : public std::runtime_error
+{
+public:
+  explicit UnknownTypeError(const std::string & type)
+  : std::runtime_error("Unknown type: " + type) {}
+};
+
 /// Thrown when an invalid rclcpp::Event object or SharedPtr is encountered.
 class InvalidEventError : public std::runtime_error
 {
diff --git a/rclcpp/include/rclcpp/parameter_value.hpp b/rclcpp/include/rclcpp/parameter_value.hpp
index f74c36a866..fac896ea46 100644
--- a/rclcpp/include/rclcpp/parameter_value.hpp
+++ b/rclcpp/include/rclcpp/parameter_value.hpp
@@ -24,6 +24,7 @@
 
 #include "rcl_interfaces/msg/parameter_type.hpp"
 #include "rcl_interfaces/msg/parameter_value.hpp"
+#include "rclcpp/exceptions/exceptions.hpp"
 #include "rclcpp/visibility_control.hpp"
 
 namespace rclcpp
diff --git a/rclcpp/src/rclcpp/parameter_value.cpp b/rclcpp/src/rclcpp/parameter_value.cpp
index e88b225479..ee46e77673 100644
--- a/rclcpp/src/rclcpp/parameter_value.cpp
+++ b/rclcpp/src/rclcpp/parameter_value.cpp
@@ -129,8 +129,7 @@ ParameterValue::ParameterValue(const rcl_interfaces::msg::ParameterValue & value
     case PARAMETER_NOT_SET:
       break;
     default:
-      // TODO(wjwwood): use custom exception
-      throw std::runtime_error("Unknown type: " + std::to_string(value.type));
+      throw rclcpp::exceptions::UnknownTypeError(std::to_string(value.type));
   }
 }