diff --git a/include/fastdds/rtps/writer/ReaderProxy.h b/include/fastdds/rtps/writer/ReaderProxy.h
index 66f77d4c5e5..b0f605a06fe 100644
--- a/include/fastdds/rtps/writer/ReaderProxy.h
+++ b/include/fastdds/rtps/writer/ReaderProxy.h
@@ -307,9 +307,10 @@ class ReaderProxy
     bool check_and_set_acknack_count(
             uint32_t acknack_count)
     {
-        if (last_acknack_count_ < acknack_count)
+        if (acknack_count >= next_expected_acknack_count_)
         {
-            last_acknack_count_ = acknack_count;
+            next_expected_acknack_count_ = acknack_count;
+            ++next_expected_acknack_count_;
             return true;
         }
 
@@ -442,8 +443,8 @@ class ReaderProxy
     TimedEvent* initial_heartbeat_event_;
     //! Are timed events enabled?
     std::atomic_bool timers_enabled_;
-    //! Last ack/nack count
-    uint32_t last_acknack_count_;
+    //! Next expected ack/nack count
+    uint32_t next_expected_acknack_count_;
     //! Last  NACKFRAG count.
     uint32_t last_nackfrag_count_;
 
diff --git a/src/cpp/rtps/writer/ReaderProxy.cpp b/src/cpp/rtps/writer/ReaderProxy.cpp
index 2655f87e42f..3a751c989d2 100644
--- a/src/cpp/rtps/writer/ReaderProxy.cpp
+++ b/src/cpp/rtps/writer/ReaderProxy.cpp
@@ -57,7 +57,7 @@ ReaderProxy::ReaderProxy(
     , nack_supression_event_(nullptr)
     , initial_heartbeat_event_(nullptr)
     , timers_enabled_(false)
-    , last_acknack_count_(0)
+    , next_expected_acknack_count_(0)
     , last_nackfrag_count_(0)
 {
     nack_supression_event_ = new TimedEvent(writer_->getRTPSParticipant()->getEventResource(),
@@ -166,7 +166,7 @@ void ReaderProxy::stop()
     disable_timers();
 
     changes_for_reader_.clear();
-    last_acknack_count_ = 0;
+    next_expected_acknack_count_ = 0;
     last_nackfrag_count_ = 0;
     changes_low_mark_ = SequenceNumber_t();
 }