diff --git a/include/zenoh-pico/api/primitives.h b/include/zenoh-pico/api/primitives.h
index 8bbec6b37..c7ee618fa 100644
--- a/include/zenoh-pico/api/primitives.h
+++ b/include/zenoh-pico/api/primitives.h
@@ -888,6 +888,29 @@ void z_bytes_get_writer(z_loaned_bytes_t *bytes, z_owned_bytes_writer_t *writer)
  */
 int8_t z_bytes_writer_write(z_loaned_bytes_writer_t *writer, const uint8_t *src, size_t len);
 
+/**
+ * Create timestamp
+ *
+ * Parameters:
+ *   ts: An uninitialized :c:type:`z_timestamp_t`.
+ *   npt64_time: NPT64 time.
+ *   zid: id associated with this timestamp
+ *
+ * Return:
+ *   ``0`` if encode successful, ``negative value`` otherwise.
+ */
+int8_t z_timestamp_new(z_timestamp_t *ts, const z_id_t *zid, uint64_t npt64_time);
+
+/**
+ * Returns NPT64 time associated with this timestamp.
+ */
+uint64_t z_timestamp_npt64_time(const z_timestamp_t *ts);
+
+/**
+ * Returns id associated with this timestamp.
+ */
+z_id_t z_timestamp_id(const z_timestamp_t *ts);
+
 /**
  * Checks validity of a timestamp
  *
diff --git a/src/api/api.c b/src/api/api.c
index 0dc1232a1..63cf626ce 100644
--- a/src/api/api.c
+++ b/src/api/api.c
@@ -567,6 +567,16 @@ int8_t z_bytes_writer_write(z_loaned_bytes_writer_t *writer, const uint8_t *src,
     return _z_bytes_writer_write(writer, src, len);
 }
 
+int8_t z_timestamp_new(z_timestamp_t *ts, const z_id_t *zid, uint64_t npt64_time) {
+    ts->id = *zid;
+    ts->time = npt64_time;
+    return _Z_RES_OK;
+}
+
+uint64_t z_timestamp_npt64_time(const z_timestamp_t *ts) { return ts->time; }
+
+z_id_t z_timestamp_id(const z_timestamp_t *ts) { return ts->id; }
+
 _Bool z_timestamp_check(z_timestamp_t ts) { return _z_timestamp_check(&ts); }
 
 z_query_target_t z_query_target_default(void) { return Z_QUERY_TARGET_DEFAULT; }