diff --git a/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/include/mission_details_display.hpp b/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/include/mission_details_display.hpp
index ab5abfe3c3d83..ad0d02d934f9f 100644
--- a/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/include/mission_details_display.hpp
+++ b/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/include/mission_details_display.hpp
@@ -61,6 +61,9 @@ private Q_SLOTS:
   rviz_common::properties::IntProperty * property_height_;
   rviz_common::properties::IntProperty * property_right_;
   rviz_common::properties::IntProperty * property_top_;
+  rviz_common::properties::ColorProperty * property_bg_color_;
+  rviz_common::properties::FloatProperty * property_bg_alpha_;
+  rviz_common::properties::ColorProperty * property_text_color_;
   std::unique_ptr<rviz_common::properties::RosTopicProperty>
     remaining_distance_time_topic_property_;
 
diff --git a/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/include/remaining_distance_time_display.hpp b/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/include/remaining_distance_time_display.hpp
index 843b75e352648..d3f246f47129d 100644
--- a/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/include/remaining_distance_time_display.hpp
+++ b/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/include/remaining_distance_time_display.hpp
@@ -36,7 +36,8 @@ class RemainingDistanceTimeDisplay
 {
 public:
   RemainingDistanceTimeDisplay();
-  void drawRemainingDistanceTimeDisplay(QPainter & painter, const QRectF & backgroundRect);
+  void drawRemainingDistanceTimeDisplay(
+    QPainter & painter, const QRectF & backgroundRect, const QColor & text_color);
   void updateRemainingDistanceTimeData(
     const autoware_internal_msgs::msg::MissionRemainingDistanceTime::ConstSharedPtr & msg);
 
@@ -44,8 +45,6 @@ class RemainingDistanceTimeDisplay
   double remaining_distance_;  // Internal variable to store remaining distance
   double remaining_time_;      // Internal variable to store remaining time
 
-  QColor gray = QColor(194, 194, 194);
-
   QImage icon_dist_;
   QImage icon_dist_scaled_;
   QImage icon_time_;
diff --git a/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/src/mission_details_display.cpp b/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/src/mission_details_display.cpp
index bafae1727b2f1..2e76a2ae38f31 100644
--- a/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/src/mission_details_display.cpp
+++ b/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/src/mission_details_display.cpp
@@ -39,6 +39,12 @@ MissionDetailsDisplay::MissionDetailsDisplay()
     "Right", 10, "Margin from the right border", this, SLOT(update_size()));
   property_top_ = new rviz_common::properties::IntProperty(
     "Top", 10, "Margin from the top border", this, SLOT(update_size()));
+  property_bg_alpha_ = new rviz_common::properties::FloatProperty(
+    "Background Alpha", 0.3, "Background Alpha", this, SLOT(update_size()));
+  property_bg_color_ = new rviz_common::properties::ColorProperty(
+    "Background Color", QColor(0, 0, 0), "Background Color", this, SLOT(update_size()));
+  property_text_color_ = new rviz_common::properties::ColorProperty(
+    "Text Color", QColor(194, 194, 194), "Text Color", this, SLOT(update_size()));
 
   // Initialize the component displays
   remaining_distance_time_display_ = std::make_unique<RemainingDistanceTimeDisplay>();
@@ -154,7 +160,8 @@ void MissionDetailsDisplay::draw_widget(QImage & hud)
   draw_rounded_rect(painter, backgroundRect);
 
   if (remaining_distance_time_display_) {
-    remaining_distance_time_display_->drawRemainingDistanceTimeDisplay(painter, backgroundRect);
+    remaining_distance_time_display_->drawRemainingDistanceTimeDisplay(
+      painter, backgroundRect, property_text_color_->getColor());
   }
 
   painter.end();
@@ -164,8 +171,10 @@ void MissionDetailsDisplay::draw_rounded_rect(QPainter & painter, const QRectF &
 {
   painter.setRenderHint(QPainter::Antialiasing, true);
   QColor colorFromHSV;
-  colorFromHSV.setHsv(0, 0, 29);
-  colorFromHSV.setAlphaF(0.60);
+  colorFromHSV.setHsv(
+    property_bg_color_->getColor().hue(), property_bg_color_->getColor().saturation(),
+    property_bg_color_->getColor().value());
+  colorFromHSV.setAlphaF(property_bg_alpha_->getFloat());
 
   painter.setBrush(colorFromHSV);
 
diff --git a/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/src/remaining_distance_time_display.cpp b/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/src/remaining_distance_time_display.cpp
index 86395ef1918bc..13f3fdddfe76b 100644
--- a/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/src/remaining_distance_time_display.cpp
+++ b/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/src/remaining_distance_time_display.cpp
@@ -60,7 +60,7 @@ void RemainingDistanceTimeDisplay::updateRemainingDistanceTimeData(
 }
 
 void RemainingDistanceTimeDisplay::drawRemainingDistanceTimeDisplay(
-  QPainter & painter, const QRectF & backgroundRect)
+  QPainter & painter, const QRectF & backgroundRect, const QColor & text_color)
 {
   const QFont font("Quicksand", 15, QFont::Bold);
   painter.setFont(font);
@@ -107,7 +107,7 @@ void RemainingDistanceTimeDisplay::drawRemainingDistanceTimeDisplay(
     QRectF rect_text_unit(
       rect.topRight().x() - unit_width, rect.topRight().y(), unit_width, rect.height());
 
-    painter.setPen(gray);
+    painter.setPen(text_color);
     painter.drawText(rect_text_unit, Qt::AlignLeft | Qt::AlignVCenter, str_unit);
 
     // place the value text