diff --git a/rmw_fastrtps_cpp/src/type_support_common.cpp b/rmw_fastrtps_cpp/src/type_support_common.cpp
index 4e5dff1dc..eb3d38232 100644
--- a/rmw_fastrtps_cpp/src/type_support_common.cpp
+++ b/rmw_fastrtps_cpp/src/type_support_common.cpp
@@ -119,6 +119,11 @@ bool TypeSupport::deserializeROSmessage(
       "Fast CDR exception deserializing message of type %s.",
       getName());
     return false;
+  } catch (const std::bad_alloc &) {
+    RMW_SET_ERROR_MSG_WITH_FORMAT_STRING(
+      "'Bad alloc' exception deserializing message of type %s.",
+      getName());
+    return false;
   }
 
   return true;
diff --git a/rmw_fastrtps_dynamic_cpp/include/rmw_fastrtps_dynamic_cpp/TypeSupport_impl.hpp b/rmw_fastrtps_dynamic_cpp/include/rmw_fastrtps_dynamic_cpp/TypeSupport_impl.hpp
index f673fe073..899119f88 100644
--- a/rmw_fastrtps_dynamic_cpp/include/rmw_fastrtps_dynamic_cpp/TypeSupport_impl.hpp
+++ b/rmw_fastrtps_dynamic_cpp/include/rmw_fastrtps_dynamic_cpp/TypeSupport_impl.hpp
@@ -983,6 +983,11 @@ bool TypeSupport<MembersType>::deserializeROSmessage(
       "Fast CDR exception deserializing message of type %s.",
       getName());
     return false;
+  } catch (const std::bad_alloc &) {
+    RMW_SET_ERROR_MSG_WITH_FORMAT_STRING(
+      "'Bad alloc' exception deserializing message of type %s.",
+      getName());
+    return false;
   }
 
   return true;