diff --git a/src/modules/microdds_client/dds_topics.h.em b/src/modules/microdds_client/dds_topics.h.em
index 44e70d5e1c..dc79e0fabd 100644
--- a/src/modules/microdds_client/dds_topics.h.em
+++ b/src/modules/microdds_client/dds_topics.h.em
@@ -126,7 +126,10 @@ static void on_topic_update(uxrSession *session, uxrObjectId object_id, uint16_t
 bool RcvTopicsPubs::init(uxrSession *session, uxrStreamId reliable_out_stream_id, uxrStreamId reliable_in_stream_id, uxrStreamId best_effort_in_stream_id, uxrObjectId participant_id, const char *client_namespace)
 {
 @[    for idx, sub in enumerate(subscriptions)]@
-	create_data_reader(session, reliable_out_stream_id, best_effort_in_stream_id, participant_id, @(idx), client_namespace, "@(sub['topic_simple'])", "@(sub['dds_type'])");
+	{
+			uint16_t queue_depth = uORB::DefaultQueueSize<@(sub['simple_base_type'])_s>::value * 2; // use a bit larger queue size than internal
+			create_data_reader(session, reliable_out_stream_id, best_effort_in_stream_id, participant_id, @(idx), client_namespace, "@(sub['topic_simple'])", "@(sub['dds_type'])", queue_depth);
+	}
 @[    end for]@
 
 	uxr_set_topic_callback(session, on_topic_update, this);
diff --git a/src/modules/microdds_client/utilities.hpp b/src/modules/microdds_client/utilities.hpp
index c5eb5c3a26..91e1996fb8 100644
--- a/src/modules/microdds_client/utilities.hpp
+++ b/src/modules/microdds_client/utilities.hpp
@@ -84,7 +84,7 @@ static bool create_data_writer(uxrSession *session, uxrStreamId reliable_out_str
 
 static bool create_data_reader(uxrSession *session, uxrStreamId reliable_out_stream_id, uxrStreamId input_stream_id,
 			       uxrObjectId participant_id, uint16_t index, const char *client_namespace, const char *topic_name_simple,
-			       const char *type_name)
+			       const char *type_name, uint16_t queue_depth)
 {
 	// topic
 	char topic_name[TOPIC_NAME_SIZE];
@@ -115,7 +115,7 @@ static bool create_data_reader(uxrSession *session, uxrStreamId reliable_out_str
 		.durability = UXR_DURABILITY_VOLATILE,
 		.reliability = UXR_RELIABILITY_BEST_EFFORT,
 		.history = UXR_HISTORY_KEEP_LAST,
-		.depth = 0,
+		.depth = queue_depth,
 	};
 
 	uint16_t datareader_req = uxr_buffer_create_datareader_bin(session, reliable_out_stream_id, datareader_id,