diff --git a/rosidl_generator_py/CMakeLists.txt b/rosidl_generator_py/CMakeLists.txt
index e5ff834f..69f874c2 100644
--- a/rosidl_generator_py/CMakeLists.txt
+++ b/rosidl_generator_py/CMakeLists.txt
@@ -49,6 +49,7 @@ if(BUILD_TESTING)
       msg/BuiltinTypeSequencesIdl.idl
       msg/StringArrays.msg
       msg/Property.msg
+      msg/TestDeprecated.idl
       ADD_LINTER_TESTS
       SKIP_INSTALL
     )
@@ -75,6 +76,12 @@ if(BUILD_TESTING)
       APPEND_LIBRARY_DIRS "${_append_library_dirs}"
       WORKING_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_py"
     )
+
+    ament_add_pytest_test(test_deprecated_py test/test_deprecated.py
+      APPEND_ENV "PYTHONPATH=${pythonpath}"
+      APPEND_LIBRARY_DIRS "${_append_library_dirs}"
+      WORKING_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_py"
+    )
   endif()
 endif()
 
diff --git a/rosidl_generator_py/msg/TestDeprecated.idl b/rosidl_generator_py/msg/TestDeprecated.idl
new file mode 100644
index 00000000..6b5ed29f
--- /dev/null
+++ b/rosidl_generator_py/msg/TestDeprecated.idl
@@ -0,0 +1,9 @@
+module rosidl_generator_py {
+  module msg {
+    struct TestDeprecated {
+      @deprecated ( text="Use distance_meters instead")
+      uint8 distance_cm;
+      double distance_meters;
+    };
+  };
+};
diff --git a/rosidl_generator_py/package.xml b/rosidl_generator_py/package.xml
index 8d67c041..68a4a209 100644
--- a/rosidl_generator_py/package.xml
+++ b/rosidl_generator_py/package.xml
@@ -40,6 +40,7 @@
 
   <exec_depend>ament_index_python</exec_depend>
   <exec_depend>python3-numpy</exec_depend>
+  <exec_depend>python3-typing-extensions</exec_depend>
   <exec_depend>rosidl_cli</exec_depend>
   <exec_depend>rosidl_generator_c</exec_depend>
   <exec_depend>rosidl_parser</exec_depend>
diff --git a/rosidl_generator_py/resource/_msg.py.em b/rosidl_generator_py/resource/_msg.py.em
index 6271e52d..44106789 100644
--- a/rosidl_generator_py/resource/_msg.py.em
+++ b/rosidl_generator_py/resource/_msg.py.em
@@ -44,6 +44,9 @@ for member in message.structure.members:
     if member.name != EMPTY_STRUCTURE_REQUIRED_MEMBER_NAME:
         imports.setdefault(
             'import builtins', [])  # used for @builtins.property
+    if member.has_annotation('deprecated'):
+        imports.setdefault(
+            'from typing_extensions import deprecated as _deprecated', [])
     if isinstance(type_, BasicType) and type_.typename in FLOATING_POINT_TYPES:
         imports.setdefault(
             'import math', [])  # used for math.isinf
@@ -429,12 +432,24 @@ noqa_string = ''
 if member.name in dict(inspect.getmembers(builtins)).keys():
     noqa_string = '  # noqa: A003'
 }@
+@[  if member.has_annotation('deprecated')]@
+@{
+deprecation_annotation = member.get_annotation_value('deprecated')
+deprecation_text = deprecation_annotation.get('text', '') if isinstance(deprecation_annotation, dict) else ''
+}@
+@[  end if]@
     @@builtins.property@(noqa_string)
+@[  if member.has_annotation('deprecated')]@
+    @@_deprecated('@(deprecation_text)')@(noqa_string)
+@[  end if]@
     def @(member.name)(self):@(noqa_string)
         """Message field '@(member.name)'."""
         return self._@(member.name)
 
     @@@(member.name).setter@(noqa_string)
+@[  if member.has_annotation('deprecated')]@
+    @@_deprecated('@(deprecation_text)')@(noqa_string)
+@[  end if]@
     def @(member.name)(self, value):@(noqa_string)
         if self._check_fields:
 @[  if isinstance(member.type, AbstractNestedType) and isinstance(member.type.value_type, BasicType) and member.type.value_type.typename in SPECIAL_NESTED_BASIC_TYPES]@
diff --git a/rosidl_generator_py/resource/_msg_support.c.em b/rosidl_generator_py/resource/_msg_support.c.em
index 36a29454..d62b6ceb 100644
--- a/rosidl_generator_py/resource/_msg_support.c.em
+++ b/rosidl_generator_py/resource/_msg_support.c.em
@@ -134,6 +134,9 @@ nested_header += '__functions.h'
 @[  end for]@
 // end nested array functions include
 @[end if]@
+@[if any(member.has_annotation('deprecated') for member in message.structure.members)]@
+#include "rosidl_runtime_c/deprecation.h"
+@[end if]@
 @{
 msg_typename = '__'.join(message.structure.namespaced_type.namespaced_name())
 }@
@@ -202,6 +205,9 @@ if isinstance(type_, AbstractNestedType):
     type_ = type_.value_type
 }@
   {  // @(member.name)
+@[  if member.has_annotation('deprecated')]@
+    DISABLE_DEPRECATED_PUSH
+@[  end if]@
     PyObject * field = PyObject_GetAttrString(_pymsg, "@(member.name)");
     if (!field) {
       return false;
@@ -512,6 +518,9 @@ nested_type = '__'.join(type_.namespaced_name())
     assert(false);
 @[  end if]@
     Py_DECREF(field);
+@[  if member.has_annotation('deprecated')]@
+    DISABLE_DEPRECATED_POP
+@[  end if]@
   }
 @[end for]@
 
@@ -550,6 +559,9 @@ if isinstance(type_, AbstractNestedType):
     type_ = type_.value_type
 }@
   {  // @(member.name)
+@[  if member.has_annotation('deprecated')]@
+    DISABLE_DEPRECATED_PUSH
+@[  end if]@
     PyObject * field = NULL;
 @[ if isinstance(member.type, AbstractNestedType) and isinstance(member.type.value_type, BasicType) and member.type.value_type.typename in SPECIAL_NESTED_BASIC_TYPES]@
 @[    if isinstance(member.type, Array)]@
@@ -795,6 +807,9 @@ nested_type = '__'.join(type_.namespaced_name())
       }
     }
 @[ end if]@
+@[  if member.has_annotation('deprecated')]@
+    DISABLE_DEPRECATED_POP
+@[  end if]@
   }
 @[end for]@
 
diff --git a/rosidl_generator_py/test/test_deprecated.py b/rosidl_generator_py/test/test_deprecated.py
new file mode 100644
index 00000000..65198978
--- /dev/null
+++ b/rosidl_generator_py/test/test_deprecated.py
@@ -0,0 +1,64 @@
+# Copyright 2026 Open Source Robotics Foundation, Inc.
+#
+# 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.
+
+import warnings
+
+import pytest
+
+from rosidl_generator_py.msg import TestDeprecated
+
+
+def test_deprecated_field_getter_emits_warning():
+    """Test that accessing a deprecated field emits a DeprecationWarning."""
+    msg = TestDeprecated()
+
+    with pytest.warns(DeprecationWarning, match='Use distance_meters instead'):
+        _ = msg.distance_cm
+
+
+def test_deprecated_field_setter_emits_warning():
+    """Test that setting a deprecated field emits a DeprecationWarning."""
+    msg = TestDeprecated()
+
+    with pytest.warns(DeprecationWarning, match='Use distance_meters instead'):
+        msg.distance_cm = 42
+
+
+def test_non_deprecated_field_no_warning():
+    """Test that accessing non-deprecated fields does not emit a warning."""
+    msg = TestDeprecated()
+
+    with warnings.catch_warnings():
+        warnings.simplefilter('error', DeprecationWarning)
+        # Should not raise - distance_meters is not deprecated
+        _ = msg.distance_meters
+
+
+def test_deprecated_field_values():
+    """Test that deprecated fields still work correctly for values."""
+    msg = TestDeprecated()
+
+    # Suppress the deprecation warnings for value testing
+    with warnings.catch_warnings():
+        warnings.simplefilter('ignore', DeprecationWarning)
+
+        # Default value
+        assert msg.distance_cm == 0
+        assert msg.distance_meters == 0.0
+
+        # Set and get
+        msg.distance_cm = 10
+        msg.distance_meters = 1.5
+        assert msg.distance_cm == 10
+        assert msg.distance_meters == 1.5