diff --git a/ddsrouter_core/include/ddsrouter_core/configuration/SpecsConfiguration.hpp b/ddsrouter_core/include/ddsrouter_core/configuration/SpecsConfiguration.hpp
index 5ea94e58a..7839188cf 100644
--- a/ddsrouter_core/include/ddsrouter_core/configuration/SpecsConfiguration.hpp
+++ b/ddsrouter_core/include/ddsrouter_core/configuration/SpecsConfiguration.hpp
@@ -22,6 +22,7 @@
 #include <ddspipe_core/configuration/DdsPipeConfiguration.hpp>
 #include <ddspipe_core/configuration/DdsPipeLogConfiguration.hpp>
 #include <ddspipe_core/configuration/IConfiguration.hpp>
+#include <ddspipe_core/configuration/MonitorConfiguration.hpp>
 #include <ddspipe_core/types/dds/TopicQoS.hpp>
 
 #include <ddsrouter_core/library/library_dll.h>
@@ -74,6 +75,9 @@ struct SpecsConfiguration : public ddspipe::core::IConfiguration
 
     //! Configuration of the DDS Pipe's Log consumers.
     ddspipe::core::DdsPipeLogConfiguration log_configuration;
+
+    //! Configuration of the DDS Pipe's Monitor.
+    ddspipe::core::MonitorConfiguration monitor_configuration{};
 };
 
 } /* namespace core */
diff --git a/ddsrouter_yaml/src/cpp/YamlReader_configuration.cpp b/ddsrouter_yaml/src/cpp/YamlReader_configuration.cpp
index 1c3a8b8a8..dd83e4856 100644
--- a/ddsrouter_yaml/src/cpp/YamlReader_configuration.cpp
+++ b/ddsrouter_yaml/src/cpp/YamlReader_configuration.cpp
@@ -25,6 +25,7 @@
 #include <ddspipe_yaml/YamlReader.hpp>
 
 #include <ddspipe_core/configuration/DdsPipeConfiguration.hpp>
+#include <ddspipe_core/configuration/MonitorConfiguration.hpp>
 #include <ddsrouter_core/configuration/DdsRouterConfiguration.hpp>
 
 #include <ddsrouter_yaml/YamlReaderConfiguration.hpp>
@@ -85,6 +86,13 @@ void YamlReader::fill(
         object.log_configuration = YamlReader::get<ddspipe::core::DdsPipeLogConfiguration>(yml, LOG_CONFIGURATION_TAG,
                         version);
     }
+
+    /////
+    // Get optional monitor tag
+    if (YamlReader::is_tag_present(yml, MONITOR_TAG))
+    {
+        object.monitor_configuration = YamlReader::get<core::MonitorConfiguration>(yml, MONITOR_TAG, version);
+    }
 }
 
 template <>
diff --git a/docs/rst/notes/forthcoming_version.rst b/docs/rst/notes/forthcoming_version.rst
index 64fdd5761..0d0a40550 100644
--- a/docs/rst/notes/forthcoming_version.rst
+++ b/docs/rst/notes/forthcoming_version.rst
@@ -6,6 +6,11 @@
 Forthcoming Version
 ###################
 
-This release will include the following **Configuration features**:
+The next release will include the following **Features**:
+
+* Publish the :ref:`Logs <router_specs_logging>`.
+* :ref:`Monitor <user_manual_configuration_specs_monitor>`.
+
+The next release will include the following **Configuration features**:
 
 * New configuration option ``logging`` to configure the :ref:`Logs <router_specs_logging>`.
diff --git a/docs/rst/user_manual/configuration.rst b/docs/rst/user_manual/configuration.rst
index 9da144832..16580b726 100644
--- a/docs/rst/user_manual/configuration.rst
+++ b/docs/rst/user_manual/configuration.rst
@@ -493,6 +493,62 @@ The type of the logs published is defined as follows:
         publish-type: false
       stdout: true
 
+.. _user_manual_configuration_specs_monitor:
+
+Monitor
+-------
+
+``specs`` supports a ``monitor`` **optional** tag to publish internal data from the |ddsrouter|.
+If the monitor is enabled, it publishes (and logs under the ``MONITOR_DATA`` :ref:`log filter <router_specs_logging>`) the *DDS Router's* internal data on a ``domain``, under a ``topic-name``, once every ``period`` (in milliseconds).
+If the monitor is not enabled, the |ddsrouter| will not collect or publish any data.
+
+.. note::
+
+    The data published is relative to each period.
+    The |ddsrouter| will reset its tracked data after publishing it.
+
+
+In particular, the |ddsrouter| will track the number of messages lost, received, and the message reception rate [Hz] of each topic.
+The type of the data published is defined as follows:
+
+**MonitoringTopics.idl**
+
+.. code-block:: idl
+
+    struct DdsTopicData
+    {
+        string participant_id;
+        unsigned long msgs_lost;
+        unsigned long msgs_received;
+        double msg_rx_rate;
+    };
+
+    struct DdsTopic
+    {
+        string name;
+        string type_name;
+        boolean type_discovered;
+        boolean type_mismatch;
+        boolean qos_mismatch;
+        sequence<DdsTopicData> data;
+    };
+
+    struct MonitoringTopics
+    {
+        sequence<DdsTopic> topics;
+    };
+
+**Example of usage**
+
+.. code-block:: yaml
+
+    monitor:
+      topics:
+        enable: true
+        period: 1000
+        domain: 10
+        topic-name: "DdsRouterTopicData"
+
 Participant Configuration
 =========================
 
@@ -948,6 +1004,13 @@ A complete example of all the configurations described on this page can be found
             publish-type: false
         stdout: true
 
+      monitor:
+        topics:
+          enable: true
+          period: 1000
+          domain: 10
+          topic-name: "DdsRouterTopicStatistics"
+
     # XML configurations to load
     xml:
 
diff --git a/tools/ddsrouter_tool/src/cpp/main.cpp b/tools/ddsrouter_tool/src/cpp/main.cpp
index 9a65d9fe3..fd3834203 100644
--- a/tools/ddsrouter_tool/src/cpp/main.cpp
+++ b/tools/ddsrouter_tool/src/cpp/main.cpp
@@ -29,7 +29,8 @@
 #include <cpp_utils/utils.hpp>
 
 #include <ddspipe_core/logging/DdsLogConsumer.hpp>
-
+#include <ddspipe_core/monitoring/Monitor.hpp>
+#include <ddspipe_core/monitoring/producers/TopicsMonitorProducer.hpp>
 #include <ddspipe_participants/xml/XmlHandler.hpp>
 
 #include <ddsrouter_core/configuration/DdsRouterConfiguration.hpp>
@@ -232,6 +233,15 @@ int main(
                             commandline_args.reload_time);
         }
 
+        // Monitor
+        auto monitor_configuration = router_configuration.advanced_options.monitor_configuration;
+        ddspipe::core::Monitor monitor{monitor_configuration};
+
+        if (monitor_configuration.producers[ddspipe::core::TOPICS_MONITOR_PRODUCER_ID].enabled)
+        {
+            monitor.monitor_topics();
+        }
+
         // Start Router
         router.start();