diff --git a/rclcpp/include/rclcpp/service.hpp b/rclcpp/include/rclcpp/service.hpp
index 40895426db..ce10db5832 100644
--- a/rclcpp/include/rclcpp/service.hpp
+++ b/rclcpp/include/rclcpp/service.hpp
@@ -555,6 +555,15 @@ class Service
   {
     rcl_ret_t ret = rcl_send_response(get_service_handle().get(), &req_id, &response);
 
+    if (ret == RCL_RET_TIMEOUT) {
+      RCLCPP_WARN(
+        node_logger_.get_child("rclcpp"),
+        "failed to send response to %s (timeout): %s",
+        this->get_service_name(), rcl_get_error_string().str);
+      rcl_reset_error();
+      return;
+    }
+
     if (ret != RCL_RET_OK) {
       rclcpp::exceptions::throw_from_rcl_error(ret, "failed to send response");
     }