diff --git a/rmw_zenoh_cpp/src/detail/rmw_data_types.cpp b/rmw_zenoh_cpp/src/detail/rmw_data_types.cpp
index b3845e30..8f88b75c 100644
--- a/rmw_zenoh_cpp/src/detail/rmw_data_types.cpp
+++ b/rmw_zenoh_cpp/src/detail/rmw_data_types.cpp
@@ -189,6 +189,18 @@ void rmw_service_data_t::notify()
 void rmw_service_data_t::add_new_query(std::unique_ptr<ZenohQuery> query)
 {
   std::lock_guard<std::mutex> lock(query_queue_mutex_);
+  if (query_queue_.size() >= adapted_qos_profile.depth) {
+    // Log warning if message is discarded due to hitting the queue depth
+    z_owned_str_t keystr = z_keyexpr_to_string(z_loan(this->keyexpr));
+    RCUTILS_LOG_ERROR_NAMED(
+      "rmw_zenoh_cpp",
+      "Query queue depth of %ld reached, discarding oldest Query "
+      "for service for %s",
+      adapted_qos_profile.depth,
+      z_loan(keystr));
+    z_drop(z_move(keystr));
+    query_queue_.pop_front();
+  }
   query_queue_.emplace_back(std::move(query));
 
   // Since we added new data, trigger user callback and guard condition if they are available
@@ -238,6 +250,18 @@ void rmw_client_data_t::notify()
 void rmw_client_data_t::add_new_reply(std::unique_ptr<ZenohReply> reply)
 {
   std::lock_guard<std::mutex> lock(reply_queue_mutex_);
+  if (reply_queue_.size() >= adapted_qos_profile.depth) {
+    // Log warning if message is discarded due to hitting the queue depth
+    z_owned_str_t keystr = z_keyexpr_to_string(z_loan(this->keyexpr));
+    RCUTILS_LOG_ERROR_NAMED(
+      "rmw_zenoh_cpp",
+      "Reply queue depth of %ld reached, discarding oldest reply "
+      "for client for %s",
+      adapted_qos_profile.depth,
+      z_loan(keystr));
+    z_drop(z_move(keystr));
+    reply_queue_.pop_front();
+  }
   reply_queue_.emplace_back(std::move(reply));
 
   // Since we added new data, trigger user callback and guard condition if they are available
diff --git a/rmw_zenoh_cpp/src/rmw_zenoh.cpp b/rmw_zenoh_cpp/src/rmw_zenoh.cpp
index 4dd9ef1d..2d7d2159 100644
--- a/rmw_zenoh_cpp/src/rmw_zenoh.cpp
+++ b/rmw_zenoh_cpp/src/rmw_zenoh.cpp
@@ -1958,6 +1958,15 @@ rmw_create_client(
 
   generate_random_gid(client_data->client_gid);
 
+  // Adapt any 'best available' QoS options
+  client_data->adapted_qos_profile =
+    rmw_dds_common::qos_profile_update_best_available_for_services(*qos_profile);
+  // If a depth of 0 was provided, the RMW implementation should choose a suitable default.
+  client_data->adapted_qos_profile.depth =
+    client_data->adapted_qos_profile.depth > 0 ?
+    client_data->adapted_qos_profile.depth :
+    RMW_ZENOH_DEFAULT_HISTORY_DEPTH;
+
   // Obtain the type support
   const rosidl_service_type_support_t * type_support = find_service_type_support(type_supports);
   if (type_support == nullptr) {
@@ -2480,6 +2489,11 @@ rmw_create_service(
   // Adapt any 'best available' QoS options
   service_data->adapted_qos_profile =
     rmw_dds_common::qos_profile_update_best_available_for_services(*qos_profiles);
+  // If a depth of 0 was provided, the RMW implementation should choose a suitable default.
+  service_data->adapted_qos_profile.depth =
+    service_data->adapted_qos_profile.depth > 0 ?
+    service_data->adapted_qos_profile.depth :
+    RMW_ZENOH_DEFAULT_HISTORY_DEPTH;
 
   // Get the RMW type support.
   const rosidl_service_type_support_t * type_support = find_service_type_support(type_supports);