diff --git a/common/tier4_autoware_utils/test/src/ros/test_published_time_publisher.cpp b/common/tier4_autoware_utils/test/src/ros/test_published_time_publisher.cpp
new file mode 100644
index 0000000000000..751c5f12060a9
--- /dev/null
+++ b/common/tier4_autoware_utils/test/src/ros/test_published_time_publisher.cpp
@@ -0,0 +1,81 @@
+// Copyright 2024 The Autoware Contributors
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <rclcpp/rclcpp.hpp>
+#include <tier4_autoware_utils/ros/published_time_publisher.hpp>
+
+#include <autoware_internal_msgs/msg/published_time.hpp>
+#include <std_msgs/msg/header.hpp>
+
+#include <gtest/gtest.h>
+
+class PublishedTimePublisherTest : public ::testing::Test
+{
+protected:
+  std::shared_ptr<rclcpp::Node> node_{nullptr};
+  std::shared_ptr<tier4_autoware_utils::PublishedTimePublisher> published_time_publisher_{nullptr};
+  std::shared_ptr<rclcpp::Publisher<std_msgs::msg::Header>> test_publisher_{nullptr};
+  std::shared_ptr<rclcpp::Subscription<autoware_internal_msgs::msg::PublishedTime>>
+    test_subscriber_{nullptr};
+  autoware_internal_msgs::msg::PublishedTime::ConstSharedPtr published_time_{nullptr};
+
+  void SetUp() override
+  {
+    ASSERT_TRUE(rclcpp::ok());
+
+    // Create a node
+    node_ = std::make_shared<rclcpp::Node>("PublishedTimePublisher_test_node");
+    // Create a publisher
+    test_publisher_ =
+      node_->create_publisher<std_msgs::msg::Header>("PublishedTimePublisher_test_topic", 1);
+    // Create a PublishedTimePublisher
+    published_time_publisher_ =
+      std::make_shared<tier4_autoware_utils::PublishedTimePublisher>(node_.get());
+    // Create a subscriber
+    test_subscriber_ = node_->create_subscription<autoware_internal_msgs::msg::PublishedTime>(
+      "PublishedTimePublisher_test_topic/debug/published_time", 1,
+      [this](autoware_internal_msgs::msg::PublishedTime::SharedPtr msg) {
+        this->published_time_ = msg;
+      });
+    rclcpp::spin_some(node_);
+  }
+
+  void TearDown() override {}
+};
+
+TEST_F(PublishedTimePublisherTest, PublishMsgWithHeader)
+{
+  std_msgs::msg::Header header;
+  header.stamp = rclcpp::Time(1234);
+
+  // Use Published Time Publisher with a timestamp
+  published_time_publisher_->publish(test_publisher_, header);
+  rclcpp::spin_some(node_);
+
+  // Check if the published time is the same as the header
+  EXPECT_EQ(published_time_->header.stamp, header.stamp);
+}
+
+TEST_F(PublishedTimePublisherTest, PublishMsgWithTimestamp)
+{
+  std_msgs::msg::Header header;
+  header.stamp = rclcpp::Time(4321);
+
+  // Use Published Time Publisher with a timestamp
+  published_time_publisher_->publish(test_publisher_, header.stamp);
+  rclcpp::spin_some(node_);
+
+  // Check if the published time is the same as the header
+  EXPECT_EQ(published_time_->header.stamp, header.stamp);
+}