diff --git a/Cargo.lock b/Cargo.lock
index 0d6e0e65..faf74696 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -3886,7 +3886,7 @@ dependencies = [
 [[package]]
 name = "zenoh"
 version = "1.9.0"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#6685f8471ab5a95b67ed7fdab9c9d9e2022b3102"
+source = "git+https://github.com/zettascalelabs/zenoh.git?branch=feat%2Frouting-timestamps#16d4621697b57b56a970fcf7e169d868e68d0cb0"
 dependencies = [
  "ahash",
  "arc-swap",
@@ -3937,7 +3937,7 @@ dependencies = [
 [[package]]
 name = "zenoh-buffers"
 version = "1.9.0"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#6685f8471ab5a95b67ed7fdab9c9d9e2022b3102"
+source = "git+https://github.com/zettascalelabs/zenoh.git?branch=feat%2Frouting-timestamps#16d4621697b57b56a970fcf7e169d868e68d0cb0"
 dependencies = [
  "zenoh-collections",
 ]
@@ -3945,7 +3945,7 @@ dependencies = [
 [[package]]
 name = "zenoh-codec"
 version = "1.9.0"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#6685f8471ab5a95b67ed7fdab9c9d9e2022b3102"
+source = "git+https://github.com/zettascalelabs/zenoh.git?branch=feat%2Frouting-timestamps#16d4621697b57b56a970fcf7e169d868e68d0cb0"
 dependencies = [
  "tracing",
  "uhlc",
@@ -3957,7 +3957,7 @@ dependencies = [
 [[package]]
 name = "zenoh-collections"
 version = "1.9.0"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#6685f8471ab5a95b67ed7fdab9c9d9e2022b3102"
+source = "git+https://github.com/zettascalelabs/zenoh.git?branch=feat%2Frouting-timestamps#16d4621697b57b56a970fcf7e169d868e68d0cb0"
 dependencies = [
  "ahash",
 ]
@@ -3965,7 +3965,7 @@ dependencies = [
 [[package]]
 name = "zenoh-config"
 version = "1.9.0"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#6685f8471ab5a95b67ed7fdab9c9d9e2022b3102"
+source = "git+https://github.com/zettascalelabs/zenoh.git?branch=feat%2Frouting-timestamps#16d4621697b57b56a970fcf7e169d868e68d0cb0"
 dependencies = [
  "json5",
  "nonempty-collections",
@@ -3990,7 +3990,7 @@ dependencies = [
 [[package]]
 name = "zenoh-core"
 version = "1.9.0"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#6685f8471ab5a95b67ed7fdab9c9d9e2022b3102"
+source = "git+https://github.com/zettascalelabs/zenoh.git?branch=feat%2Frouting-timestamps#16d4621697b57b56a970fcf7e169d868e68d0cb0"
 dependencies = [
  "lazy_static",
  "tokio",
@@ -4001,7 +4001,7 @@ dependencies = [
 [[package]]
 name = "zenoh-crypto"
 version = "1.9.0"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#6685f8471ab5a95b67ed7fdab9c9d9e2022b3102"
+source = "git+https://github.com/zettascalelabs/zenoh.git?branch=feat%2Frouting-timestamps#16d4621697b57b56a970fcf7e169d868e68d0cb0"
 dependencies = [
  "aes",
  "hmac",
@@ -4014,7 +4014,7 @@ dependencies = [
 [[package]]
 name = "zenoh-ext"
 version = "1.9.0"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#6685f8471ab5a95b67ed7fdab9c9d9e2022b3102"
+source = "git+https://github.com/zettascalelabs/zenoh.git?branch=feat%2Frouting-timestamps#16d4621697b57b56a970fcf7e169d868e68d0cb0"
 dependencies = [
  "async-trait",
  "bincode",
@@ -4033,7 +4033,7 @@ dependencies = [
 [[package]]
 name = "zenoh-keyexpr"
 version = "1.9.0"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#6685f8471ab5a95b67ed7fdab9c9d9e2022b3102"
+source = "git+https://github.com/zettascalelabs/zenoh.git?branch=feat%2Frouting-timestamps#16d4621697b57b56a970fcf7e169d868e68d0cb0"
 dependencies = [
  "getrandom 0.2.17",
  "hashbrown 0.16.1",
@@ -4048,7 +4048,7 @@ dependencies = [
 [[package]]
 name = "zenoh-link"
 version = "1.9.0"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#6685f8471ab5a95b67ed7fdab9c9d9e2022b3102"
+source = "git+https://github.com/zettascalelabs/zenoh.git?branch=feat%2Frouting-timestamps#16d4621697b57b56a970fcf7e169d868e68d0cb0"
 dependencies = [
  "zenoh-config",
  "zenoh-link-commons",
@@ -4066,7 +4066,7 @@ dependencies = [
 [[package]]
 name = "zenoh-link-commons"
 version = "1.9.0"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#6685f8471ab5a95b67ed7fdab9c9d9e2022b3102"
+source = "git+https://github.com/zettascalelabs/zenoh.git?branch=feat%2Frouting-timestamps#16d4621697b57b56a970fcf7e169d868e68d0cb0"
 dependencies = [
  "async-trait",
  "base64",
@@ -4102,7 +4102,7 @@ dependencies = [
 [[package]]
 name = "zenoh-link-quic"
 version = "1.9.0"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#6685f8471ab5a95b67ed7fdab9c9d9e2022b3102"
+source = "git+https://github.com/zettascalelabs/zenoh.git?branch=feat%2Frouting-timestamps#16d4621697b57b56a970fcf7e169d868e68d0cb0"
 dependencies = [
  "async-trait",
  "rustls-webpki",
@@ -4118,7 +4118,7 @@ dependencies = [
 [[package]]
 name = "zenoh-link-quic_datagram"
 version = "1.9.0"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#6685f8471ab5a95b67ed7fdab9c9d9e2022b3102"
+source = "git+https://github.com/zettascalelabs/zenoh.git?branch=feat%2Frouting-timestamps#16d4621697b57b56a970fcf7e169d868e68d0cb0"
 dependencies = [
  "async-trait",
  "rustls-webpki",
@@ -4134,7 +4134,7 @@ dependencies = [
 [[package]]
 name = "zenoh-link-tcp"
 version = "1.9.0"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#6685f8471ab5a95b67ed7fdab9c9d9e2022b3102"
+source = "git+https://github.com/zettascalelabs/zenoh.git?branch=feat%2Frouting-timestamps#16d4621697b57b56a970fcf7e169d868e68d0cb0"
 dependencies = [
  "async-trait",
  "socket2 0.5.10",
@@ -4151,7 +4151,7 @@ dependencies = [
 [[package]]
 name = "zenoh-link-tls"
 version = "1.9.0"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#6685f8471ab5a95b67ed7fdab9c9d9e2022b3102"
+source = "git+https://github.com/zettascalelabs/zenoh.git?branch=feat%2Frouting-timestamps#16d4621697b57b56a970fcf7e169d868e68d0cb0"
 dependencies = [
  "async-trait",
  "base64",
@@ -4180,7 +4180,7 @@ dependencies = [
 [[package]]
 name = "zenoh-link-udp"
 version = "1.9.0"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#6685f8471ab5a95b67ed7fdab9c9d9e2022b3102"
+source = "git+https://github.com/zettascalelabs/zenoh.git?branch=feat%2Frouting-timestamps#16d4621697b57b56a970fcf7e169d868e68d0cb0"
 dependencies = [
  "async-trait",
  "libc",
@@ -4202,7 +4202,7 @@ dependencies = [
 [[package]]
 name = "zenoh-link-unixsock_stream"
 version = "1.9.0"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#6685f8471ab5a95b67ed7fdab9c9d9e2022b3102"
+source = "git+https://github.com/zettascalelabs/zenoh.git?branch=feat%2Frouting-timestamps#16d4621697b57b56a970fcf7e169d868e68d0cb0"
 dependencies = [
  "async-trait",
  "nix",
@@ -4220,7 +4220,7 @@ dependencies = [
 [[package]]
 name = "zenoh-link-ws"
 version = "1.9.0"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#6685f8471ab5a95b67ed7fdab9c9d9e2022b3102"
+source = "git+https://github.com/zettascalelabs/zenoh.git?branch=feat%2Frouting-timestamps#16d4621697b57b56a970fcf7e169d868e68d0cb0"
 dependencies = [
  "async-trait",
  "futures-util",
@@ -4240,7 +4240,7 @@ dependencies = [
 [[package]]
 name = "zenoh-macros"
 version = "1.9.0"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#6685f8471ab5a95b67ed7fdab9c9d9e2022b3102"
+source = "git+https://github.com/zettascalelabs/zenoh.git?branch=feat%2Frouting-timestamps#16d4621697b57b56a970fcf7e169d868e68d0cb0"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -4251,7 +4251,7 @@ dependencies = [
 [[package]]
 name = "zenoh-plugin-trait"
 version = "1.9.0"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#6685f8471ab5a95b67ed7fdab9c9d9e2022b3102"
+source = "git+https://github.com/zettascalelabs/zenoh.git?branch=feat%2Frouting-timestamps#16d4621697b57b56a970fcf7e169d868e68d0cb0"
 dependencies = [
  "git-version",
  "libloading",
@@ -4268,7 +4268,7 @@ dependencies = [
 [[package]]
 name = "zenoh-protocol"
 version = "1.9.0"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#6685f8471ab5a95b67ed7fdab9c9d9e2022b3102"
+source = "git+https://github.com/zettascalelabs/zenoh.git?branch=feat%2Frouting-timestamps#16d4621697b57b56a970fcf7e169d868e68d0cb0"
 dependencies = [
  "const_format",
  "rand 0.8.5",
@@ -4293,7 +4293,7 @@ dependencies = [
 [[package]]
 name = "zenoh-result"
 version = "1.9.0"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#6685f8471ab5a95b67ed7fdab9c9d9e2022b3102"
+source = "git+https://github.com/zettascalelabs/zenoh.git?branch=feat%2Frouting-timestamps#16d4621697b57b56a970fcf7e169d868e68d0cb0"
 dependencies = [
  "anyhow",
 ]
@@ -4301,7 +4301,7 @@ dependencies = [
 [[package]]
 name = "zenoh-runtime"
 version = "1.9.0"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#6685f8471ab5a95b67ed7fdab9c9d9e2022b3102"
+source = "git+https://github.com/zettascalelabs/zenoh.git?branch=feat%2Frouting-timestamps#16d4621697b57b56a970fcf7e169d868e68d0cb0"
 dependencies = [
  "lazy_static",
  "ron",
@@ -4315,7 +4315,7 @@ dependencies = [
 [[package]]
 name = "zenoh-shm"
 version = "1.9.0"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#6685f8471ab5a95b67ed7fdab9c9d9e2022b3102"
+source = "git+https://github.com/zettascalelabs/zenoh.git?branch=feat%2Frouting-timestamps#16d4621697b57b56a970fcf7e169d868e68d0cb0"
 dependencies = [
  "advisory-lock",
  "async-trait",
@@ -4344,7 +4344,7 @@ dependencies = [
 [[package]]
 name = "zenoh-stats"
 version = "1.9.0"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#6685f8471ab5a95b67ed7fdab9c9d9e2022b3102"
+source = "git+https://github.com/zettascalelabs/zenoh.git?branch=feat%2Frouting-timestamps#16d4621697b57b56a970fcf7e169d868e68d0cb0"
 dependencies = [
  "ahash",
  "prometheus-client",
@@ -4357,7 +4357,7 @@ dependencies = [
 [[package]]
 name = "zenoh-sync"
 version = "1.9.0"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#6685f8471ab5a95b67ed7fdab9c9d9e2022b3102"
+source = "git+https://github.com/zettascalelabs/zenoh.git?branch=feat%2Frouting-timestamps#16d4621697b57b56a970fcf7e169d868e68d0cb0"
 dependencies = [
  "arc-swap",
  "event-listener",
@@ -4371,7 +4371,7 @@ dependencies = [
 [[package]]
 name = "zenoh-task"
 version = "1.9.0"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#6685f8471ab5a95b67ed7fdab9c9d9e2022b3102"
+source = "git+https://github.com/zettascalelabs/zenoh.git?branch=feat%2Frouting-timestamps#16d4621697b57b56a970fcf7e169d868e68d0cb0"
 dependencies = [
  "futures",
  "tokio",
@@ -4384,7 +4384,7 @@ dependencies = [
 [[package]]
 name = "zenoh-transport"
 version = "1.9.0"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#6685f8471ab5a95b67ed7fdab9c9d9e2022b3102"
+source = "git+https://github.com/zettascalelabs/zenoh.git?branch=feat%2Frouting-timestamps#16d4621697b57b56a970fcf7e169d868e68d0cb0"
 dependencies = [
  "async-trait",
  "crossbeam-utils",
@@ -4420,7 +4420,7 @@ dependencies = [
 [[package]]
 name = "zenoh-util"
 version = "1.9.0"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#6685f8471ab5a95b67ed7fdab9c9d9e2022b3102"
+source = "git+https://github.com/zettascalelabs/zenoh.git?branch=feat%2Frouting-timestamps#16d4621697b57b56a970fcf7e169d868e68d0cb0"
 dependencies = [
  "async-trait",
  "const_format",
diff --git a/Cargo.toml b/Cargo.toml
index ff161af4..8743279e 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -44,10 +44,10 @@ maintenance = { status = "actively-developed" }
 [dependencies]
 paste = "1.0.14"
 pyo3 = { version = "0.25.1", features = ["abi3-py39", "extension-module"] }
-zenoh = { version = "1.9.0", git = "https://github.com/eclipse-zenoh/zenoh.git", branch = "main", features = [
+zenoh = { version = "1.9.0", git = "https://github.com/zettascalelabs/zenoh.git", branch = "feat/routing-timestamps", features = [
   "internal",
   "unstable",
 ], default-features = false }
-zenoh-ext = { version = "1.9.0", git = "https://github.com/eclipse-zenoh/zenoh.git", branch = "main", features = [
+zenoh-ext = { version = "1.9.0", git = "https://github.com/zettascalelabs/zenoh.git", branch = "feat/routing-timestamps", features = [
   "internal",
 ], optional = true }
diff --git a/src/ext.rs b/src/ext.rs
index d2de6084..896d5632 100644
--- a/src/ext.rs
+++ b/src/ext.rs
@@ -24,6 +24,7 @@ use crate::{
     sample::{Locality, Sample},
     session::{EntityGlobalId, Session},
     time::Timestamp,
+    timestamp_stack::TimestampInstrumentation,
     utils::{duration, generic, wait, MapInto},
     ZDeserializeError,
 };
@@ -492,7 +493,7 @@ impl AdvancedPublisher {
         Ok(self.get_ref()?.priority().into())
     }
 
-    #[pyo3(signature = (payload, *, encoding = None, attachment = None, timestamp = None))]
+    #[pyo3(signature = (payload, *, encoding = None, attachment = None, timestamp = None, timestamp_instrumentation = None))]
     fn put(
         &self,
         py: Python,
@@ -500,22 +501,38 @@ impl AdvancedPublisher {
         #[pyo3(from_py_with = Encoding::from_py_opt)] encoding: Option<Encoding>,
         #[pyo3(from_py_with = ZBytes::from_py_opt)] attachment: Option<ZBytes>,
         timestamp: Option<Timestamp>,
+        timestamp_instrumentation: Option<TimestampInstrumentation>,
     ) -> PyResult<()> {
         let this = self.get_ref()?;
         wait(
             py,
-            build!(this.put(payload), encoding, attachment, timestamp),
+            build!(
+                this.put(payload),
+                encoding,
+                attachment,
+                timestamp,
+                timestamp_instrumentation
+            ),
         )
     }
 
-    #[pyo3(signature = (*, attachment = None, timestamp = None))]
+    #[pyo3(signature = (*, attachment = None, timestamp = None, timestamp_instrumentation = None))]
     fn delete(
         &self,
         py: Python,
         #[pyo3(from_py_with = ZBytes::from_py_opt)] attachment: Option<ZBytes>,
         timestamp: Option<Timestamp>,
+        timestamp_instrumentation: Option<TimestampInstrumentation>,
     ) -> PyResult<()> {
-        wait(py, build!(self.get_ref()?.delete(), attachment, timestamp))
+        wait(
+            py,
+            build!(
+                self.get_ref()?.delete(),
+                attachment,
+                timestamp,
+                timestamp_instrumentation
+            ),
+        )
     }
 
     fn undeclare(&mut self, py: Python) -> PyResult<()> {
diff --git a/src/lib.rs b/src/lib.rs
index 09235cce..7c622880 100644
--- a/src/lib.rs
+++ b/src/lib.rs
@@ -32,6 +32,7 @@ mod session;
 #[cfg(feature = "shared-memory")]
 mod shm;
 mod time;
+mod timestamp_stack;
 mod utils;
 
 use pyo3::prelude::*;
@@ -77,6 +78,10 @@ pub(crate) mod zenoh {
             Transport, TransportEvent, TransportEventsListener,
         },
         time::{Timestamp, TimestampId, NTP64},
+        timestamp_stack::{
+            InterceptionPoint, TimestampContext, TimestampInstrumentation,
+            TimestampInstrumentationBuilder, TimestampStack, TimestampStackRecord,
+        },
         ZError,
     };
 
diff --git a/src/pubsub.rs b/src/pubsub.rs
index f5c46ef0..2d036dd1 100644
--- a/src/pubsub.rs
+++ b/src/pubsub.rs
@@ -27,6 +27,7 @@ use crate::{
     sample::{Sample, SourceInfo},
     session::EntityGlobalId,
     time::Timestamp,
+    timestamp_stack::TimestampInstrumentation,
     utils::{generic, wait},
 };
 
@@ -84,7 +85,8 @@ impl Publisher {
         Ok(wait(py, self.get_ref()?.matching_status())?.into())
     }
 
-    #[pyo3(signature = (payload, *, encoding = None, attachment = None, timestamp = None, source_info = None))]
+    #[allow(clippy::too_many_arguments)]
+    #[pyo3(signature = (payload, *, encoding = None, attachment = None, timestamp = None, timestamp_instrumentation = None, source_info = None))]
     fn put(
         &self,
         py: Python,
@@ -92,6 +94,7 @@ impl Publisher {
         #[pyo3(from_py_with = Encoding::from_py_opt)] encoding: Option<Encoding>,
         #[pyo3(from_py_with = ZBytes::from_py_opt)] attachment: Option<ZBytes>,
         timestamp: Option<Timestamp>,
+        timestamp_instrumentation: Option<TimestampInstrumentation>,
         source_info: Option<SourceInfo>,
     ) -> PyResult<()> {
         let this = self.get_ref()?;
@@ -100,20 +103,28 @@ impl Publisher {
             encoding,
             attachment,
             timestamp,
+            timestamp_instrumentation,
             source_info
         );
         wait(py, builder)
     }
 
-    #[pyo3(signature = (*, attachment = None, timestamp = None, source_info = None))]
+    #[pyo3(signature = (*, attachment = None, timestamp = None, timestamp_instrumentation = None, source_info = None))]
     fn delete(
         &self,
         py: Python,
         #[pyo3(from_py_with = ZBytes::from_py_opt)] attachment: Option<ZBytes>,
         timestamp: Option<Timestamp>,
+        timestamp_instrumentation: Option<TimestampInstrumentation>,
         source_info: Option<SourceInfo>,
     ) -> PyResult<()> {
-        let builder = build!(self.get_ref()?.delete(), attachment, timestamp, source_info);
+        let builder = build!(
+            self.get_ref()?.delete(),
+            attachment,
+            timestamp,
+            timestamp_instrumentation,
+            source_info
+        );
         wait(py, builder)
     }
 
diff --git a/src/query.rs b/src/query.rs
index 17d5e674..c59a17d8 100644
--- a/src/query.rs
+++ b/src/query.rs
@@ -30,6 +30,7 @@ use crate::{
     sample::SourceInfo,
     session::EntityGlobalId,
     time::Timestamp,
+    timestamp_stack::{TimestampInstrumentation, TimestampStack},
     utils::{generic, wait, IntoPyResult, IntoPython, IntoRust, MapInto},
 };
 
@@ -230,6 +231,11 @@ impl Query {
         Ok(self.get_ref()?.source_info().cloned().map_into())
     }
 
+    #[getter]
+    fn timestamp_stack(&self) -> PyResult<Option<TimestampStack>> {
+        Ok(self.get_ref()?.timestamp_stack().cloned().map_into())
+    }
+
     fn drop(&mut self) {
         Python::with_gil(|gil| gil.allow_threads(|| drop(self.0.take())));
     }
@@ -295,6 +301,11 @@ impl ReplyError {
         self.0.encoding().clone().into()
     }
 
+    #[getter]
+    fn timestamp_stack(&self) -> Option<TimestampStack> {
+        self.0.timestamp_stack().cloned().map_into()
+    }
+
     fn __repr__(&self) -> String {
         format!("{:?}", self.0)
     }
@@ -408,7 +419,7 @@ impl Querier {
     }
 
     #[allow(clippy::too_many_arguments)]
-    #[pyo3(signature = (handler = None, *, parameters = None, payload = None, encoding = None, attachment = None, source_info = None, cancellation_token = None))]
+    #[pyo3(signature = (handler = None, *, parameters = None, payload = None, encoding = None, attachment = None, source_info = None, cancellation_token = None, timestamp_instrumentation = None))]
     fn get(
         &self,
         py: Python,
@@ -419,6 +430,7 @@ impl Querier {
         #[pyo3(from_py_with = ZBytes::from_py_opt)] attachment: Option<ZBytes>,
         source_info: Option<SourceInfo>,
         cancellation_token: Option<CancellationToken>,
+        timestamp_instrumentation: Option<TimestampInstrumentation>,
     ) -> PyResult<HandlerImpl<Reply>> {
         let this = self.get_ref()?;
         let (handler, _) = into_handler(py, handler, cancellation_token.as_ref())?;
@@ -429,7 +441,8 @@ impl Querier {
             encoding,
             attachment,
             source_info,
-            cancellation_token
+            cancellation_token,
+            timestamp_instrumentation
         );
         wait(py, builder.with(handler)).map_into()
     }
diff --git a/src/sample.rs b/src/sample.rs
index dce32cf6..b5b3ede5 100644
--- a/src/sample.rs
+++ b/src/sample.rs
@@ -21,6 +21,7 @@ use crate::{
     qos::{CongestionControl, Priority},
     session::EntityGlobalId,
     time::Timestamp,
+    timestamp_stack::TimestampStack,
     utils::MapInto,
 };
 
@@ -95,6 +96,11 @@ impl Sample {
         self.0.source_info().cloned().map_into()
     }
 
+    #[getter]
+    fn timestamp_stack(&self) -> Option<TimestampStack> {
+        self.0.timestamp_stack().cloned().map_into()
+    }
+
     fn __repr__(&self) -> String {
         format!("{:?}", self.0)
     }
diff --git a/src/session.rs b/src/session.rs
index 92ae591e..77cecdc4 100644
--- a/src/session.rs
+++ b/src/session.rs
@@ -33,6 +33,7 @@ use crate::{
     query::{Querier, QueryConsolidation, QueryTarget, Queryable, Reply, ReplyKeyExpr, Selector},
     sample::{Locality, SampleKind, SourceInfo},
     time::Timestamp,
+    timestamp_stack::TimestampInstrumentation,
     utils::{duration, wait, IntoPython, MapInto},
 };
 
@@ -94,7 +95,7 @@ impl Session {
     }
 
     #[allow(clippy::too_many_arguments)]
-    #[pyo3(signature = (key_expr, payload, *, encoding = None, congestion_control = None, priority = None, express = None, attachment = None, timestamp = None, allowed_destination = None, source_info = None))]
+    #[pyo3(signature = (key_expr, payload, *, encoding = None, congestion_control = None, priority = None, express = None, attachment = None, timestamp = None, timestamp_instrumentation = None, allowed_destination = None, source_info = None))]
     fn put(
         &self,
         py: Python,
@@ -106,6 +107,7 @@ impl Session {
         express: Option<bool>,
         #[pyo3(from_py_with = ZBytes::from_py_opt)] attachment: Option<ZBytes>,
         timestamp: Option<Timestamp>,
+        timestamp_instrumentation: Option<TimestampInstrumentation>,
         allowed_destination: Option<Locality>,
         source_info: Option<SourceInfo>,
     ) -> PyResult<()> {
@@ -117,6 +119,7 @@ impl Session {
             express,
             attachment,
             timestamp,
+            timestamp_instrumentation,
             allowed_destination,
             source_info,
         );
@@ -124,7 +127,7 @@ impl Session {
     }
 
     #[allow(clippy::too_many_arguments)]
-    #[pyo3(signature = (key_expr, *, congestion_control = None, priority = None, express = None, attachment = None, timestamp = None, allowed_destination = None, source_info = None))]
+    #[pyo3(signature = (key_expr, *, congestion_control = None, priority = None, express = None, attachment = None, timestamp = None, timestamp_instrumentation = None, allowed_destination = None, source_info = None))]
     fn delete(
         &self,
         py: Python,
@@ -134,6 +137,7 @@ impl Session {
         express: Option<bool>,
         #[pyo3(from_py_with = ZBytes::from_py_opt)] attachment: Option<ZBytes>,
         timestamp: Option<Timestamp>,
+        timestamp_instrumentation: Option<TimestampInstrumentation>,
         allowed_destination: Option<Locality>,
         source_info: Option<SourceInfo>,
     ) -> PyResult<()> {
@@ -144,6 +148,7 @@ impl Session {
             express,
             attachment,
             timestamp,
+            timestamp_instrumentation,
             allowed_destination,
             source_info
         );
@@ -151,7 +156,7 @@ impl Session {
     }
 
     #[allow(clippy::too_many_arguments)]
-    #[pyo3(signature = (selector, handler = None, *, target = None, consolidation = None, accept_replies = None, timeout = None, congestion_control = None, priority = None, express = None, payload = None, encoding = None, attachment = None, allowed_destination = None, source_info = None, cancellation_token = None))]
+    #[pyo3(signature = (selector, handler = None, *, target = None, consolidation = None, accept_replies = None, timeout = None, congestion_control = None, priority = None, express = None, payload = None, encoding = None, attachment = None, allowed_destination = None, source_info = None, cancellation_token = None, timestamp_instrumentation = None))]
     fn get(
         &self,
         py: Python,
@@ -172,6 +177,7 @@ impl Session {
         allowed_destination: Option<Locality>,
         source_info: Option<SourceInfo>,
         cancellation_token: Option<CancellationToken>,
+        timestamp_instrumentation: Option<TimestampInstrumentation>,
     ) -> PyResult<HandlerImpl<Reply>> {
         let (handler, _) = into_handler(py, handler, cancellation_token.as_ref())?;
         let builder = build!(
@@ -188,7 +194,8 @@ impl Session {
             attachment,
             allowed_destination,
             source_info,
-            cancellation_token
+            cancellation_token,
+            timestamp_instrumentation
         );
 
         wait(py, builder.with(handler)).map_into()
@@ -306,8 +313,19 @@ impl Drop for Session {
 }
 
 #[pyfunction]
-pub(crate) fn open(py: Python, config: Config) -> PyResult<Session> {
-    wait(py, zenoh::open(config)).map(Session)
+#[pyo3(signature = (config, *, timestamp_callback=None))]
+pub(crate) fn open(
+    py: Python,
+    config: Config,
+    timestamp_callback: Option<Py<PyAny>>,
+) -> PyResult<Session> {
+    let builder = zenoh::open(config);
+    let builder = if let Some(callback) = timestamp_callback {
+        builder.with_timestamp_callback(crate::timestamp_stack::create_timestamp_callback(callback))
+    } else {
+        builder
+    };
+    wait(py, builder).map(Session)
 }
 
 wrapper!(zenoh::session::SessionInfo);
diff --git a/src/timestamp_stack.rs b/src/timestamp_stack.rs
new file mode 100644
index 00000000..0e3dc418
--- /dev/null
+++ b/src/timestamp_stack.rs
@@ -0,0 +1,174 @@
+//
+// Copyright (c) 2026 ZettaScale Technology
+//
+// This program and the accompanying materials are made available under the
+// terms of the Eclipse Public License 2.0 which is available at
+// http://www.eclipse.org/legal/epl-2.0, or the Apache License, Version 2.0
+// which is available at https://www.apache.org/licenses/LICENSE-2.0.
+//
+// SPDX-License-Identifier: EPL-2.0 OR Apache-2.0
+//
+// Contributors:
+//   ZettaScale Zenoh Team, <zenoh@zettascale.tech>
+//
+use pyo3::{prelude::*, types::PyBytes};
+
+use crate::{
+    config::{WhatAmI, ZenohId},
+    macros::{enum_mapper, wrapper},
+    time::Timestamp,
+};
+
+enum_mapper!(zenoh::timestamp_stack::InterceptionPoint: u8 {
+    Send,
+    Route,
+    Receive,
+});
+
+#[pyclass]
+pub(crate) struct TimestampContext(pub(crate) zenoh::timestamp_stack::TimestampContext);
+
+#[pymethods]
+impl TimestampContext {
+    #[getter]
+    fn zid(&self) -> ZenohId {
+        ZenohId(self.0.zid)
+    }
+
+    #[getter]
+    fn whatami(&self) -> WhatAmI {
+        self.0.whatami.into()
+    }
+
+    fn __repr__(&self) -> String {
+        format!(
+            "TimestampContext(zid={}, whatami={:?})",
+            self.0.zid, self.0.whatami
+        )
+    }
+}
+
+fn log_timestamp_callback_error(py: Python, err: PyErr) {
+    if let Ok(logging) = py.import("logging") {
+        if let Ok(logger) = logging.call_method1("getLogger", ("zenoh",)) {
+            let _ = logger.call_method1("error", (format!("timestamp callback error: {err}"),));
+        }
+    }
+}
+
+pub(crate) fn create_timestamp_callback(
+    callback: Py<PyAny>,
+) -> impl Fn(zenoh::timestamp_stack::TimestampContext) -> Vec<u8> + Send + Sync + 'static {
+    move |ctx: zenoh::timestamp_stack::TimestampContext| -> Vec<u8> {
+        Python::with_gil(|py| {
+            let py_ctx = match Py::new(py, TimestampContext(ctx)) {
+                Ok(ctx) => ctx,
+                Err(e) => {
+                    log_timestamp_callback_error(py, e);
+                    return Vec::new();
+                }
+            };
+            match callback.call1(py, (py_ctx,)) {
+                Ok(result) => result.extract::<Vec<u8>>(py).unwrap_or_else(|e| {
+                    log_timestamp_callback_error(py, e);
+                    Vec::new()
+                }),
+                Err(e) => {
+                    log_timestamp_callback_error(py, e);
+                    Vec::new()
+                }
+            }
+        })
+    }
+}
+
+wrapper!(zenoh::timestamp_stack::TimestampInstrumentation: Clone, Copy, PartialEq, Eq);
+
+#[pymethods]
+impl TimestampInstrumentation {
+    fn is_instrumented(&self, point: InterceptionPoint) -> bool {
+        self.0.is_instrumented(point.into())
+    }
+
+    fn __repr__(&self) -> String {
+        format!("{:?}", self.0)
+    }
+}
+
+wrapper!(zenoh::timestamp_stack::TimestampInstrumentationBuilder: Clone, Copy);
+
+#[pymethods]
+impl TimestampInstrumentationBuilder {
+    #[new]
+    fn new() -> Self {
+        Self(zenoh::timestamp_stack::TimestampInstrumentationBuilder::new())
+    }
+
+    fn set_send(&self, enabled: bool) -> Self {
+        Self(self.0.set_send(enabled))
+    }
+
+    fn set_route(&self, enabled: bool) -> Self {
+        Self(self.0.set_route(enabled))
+    }
+
+    fn set_receive(&self, enabled: bool) -> Self {
+        Self(self.0.set_receive(enabled))
+    }
+
+    fn build(&self) -> PyResult<TimestampInstrumentation> {
+        self.0
+            .build()
+            .map(TimestampInstrumentation)
+            .map_err(|e| crate::ZError::new_err(e.to_string()))
+    }
+}
+
+wrapper!(zenoh::timestamp_stack::TimestampStackRecord: Clone);
+
+#[pymethods]
+impl TimestampStackRecord {
+    #[getter]
+    fn point(&self) -> InterceptionPoint {
+        self.0.point().into()
+    }
+
+    #[getter]
+    fn is_custom(&self) -> bool {
+        self.0.is_custom()
+    }
+
+    fn timestamp<'py>(&self, py: Python<'py>) -> PyResult<Bound<'py, PyAny>> {
+        match self.0.timestamp() {
+            zenoh::timestamp_stack::InstrumentationTimestamp::UHLC(ts) => {
+                Ok(Timestamp::from(*ts).into_pyobject(py)?.into_any())
+            }
+            zenoh::timestamp_stack::InstrumentationTimestamp::Custom(bytes) => {
+                Ok(PyBytes::new(py, bytes).into_pyobject(py)?.into_any())
+            }
+        }
+    }
+
+    fn __repr__(&self) -> String {
+        format!("{:?}", self.0)
+    }
+}
+
+wrapper!(zenoh::timestamp_stack::TimestampStack: Clone);
+
+#[pymethods]
+impl TimestampStack {
+    #[getter]
+    fn instrumentation(&self) -> TimestampInstrumentation {
+        self.0.instrumentation().into()
+    }
+
+    #[getter]
+    fn records(&self) -> Vec<TimestampStackRecord> {
+        self.0.records().iter().cloned().map(Into::into).collect()
+    }
+
+    fn __repr__(&self) -> String {
+        format!("{:?}", self.0)
+    }
+}
diff --git a/tests/test_timestamp_stack.py b/tests/test_timestamp_stack.py
new file mode 100644
index 00000000..a547592f
--- /dev/null
+++ b/tests/test_timestamp_stack.py
@@ -0,0 +1,343 @@
+#
+# Copyright (c) 2026 ZettaScale Technology
+#
+# This program and the accompanying materials are made available under the
+# terms of the Eclipse Public License 2.0 which is available at
+# http://www.eclipse.org/legal/epl-2.0, or the Apache License, Version 2.0
+# which is available at https://www.apache.org/licenses/LICENSE-2.0.
+#
+# SPDX-License-Identifier: EPL-2.0 OR Apache-2.0
+#
+# Contributors:
+#   ZettaScale Zenoh Team, <zenoh@zettascale.tech>
+#
+import json
+import time
+
+import zenoh
+from zenoh import (
+    InterceptionPoint,
+    Sample,
+    TimestampContext,
+    TimestampInstrumentation,
+    TimestampInstrumentationBuilder,
+    TimestampStack,
+)
+
+SLEEP = 1
+
+
+def open_session(endpoints: list[str]) -> tuple[zenoh.Session, zenoh.Session]:
+    conf = zenoh.Config()
+    conf.insert_json5("listen/endpoints", json.dumps(endpoints))
+    conf.insert_json5("scouting/multicast/enabled", "false")
+    peer01 = zenoh.open(conf)
+
+    conf = zenoh.Config()
+    conf.insert_json5("connect/endpoints", json.dumps(endpoints))
+    conf.insert_json5("scouting/multicast/enabled", "false")
+    peer02 = zenoh.open(conf)
+
+    return (peer01, peer02)
+
+
+def close_session(peer01: zenoh.Session, peer02: zenoh.Session):
+    peer01.close()
+    peer02.close()
+
+
+def test_timestamp_instrumentation_builder():
+    """Test TimestampInstrumentationBuilder and TimestampInstrumentation."""
+    builder = TimestampInstrumentationBuilder()
+    assert builder is not None
+
+    # Build with all points enabled
+    instr = builder.set_send(True).set_route(True).set_receive(True).build()
+    assert instr is not None
+    assert isinstance(instr, TimestampInstrumentation)
+    assert instr.is_instrumented(InterceptionPoint.SEND)
+    assert instr.is_instrumented(InterceptionPoint.ROUTE)
+    assert instr.is_instrumented(InterceptionPoint.RECEIVE)
+
+    # Build with only send enabled
+    instr2 = TimestampInstrumentationBuilder().set_send(True).build()
+    assert instr2.is_instrumented(InterceptionPoint.SEND)
+    assert not instr2.is_instrumented(InterceptionPoint.ROUTE)
+    assert not instr2.is_instrumented(InterceptionPoint.RECEIVE)
+
+    # Build with only route and receive
+    instr3 = TimestampInstrumentationBuilder().set_route(True).set_receive(True).build()
+    assert not instr3.is_instrumented(InterceptionPoint.SEND)
+    assert instr3.is_instrumented(InterceptionPoint.ROUTE)
+    assert instr3.is_instrumented(InterceptionPoint.RECEIVE)
+
+
+def test_timestamp_instrumentation_builder_empty():
+    """Test that building with no points raises an error."""
+    try:
+        TimestampInstrumentationBuilder().build()
+        assert False, "Expected ZError for empty instrumentation"
+    except zenoh.ZError:
+        pass
+
+
+def test_pubsub_timestamp_stack():
+    """Test publishing with timestamp_instrumentation and reading from sample."""
+    zenoh.try_init_log_from_env()
+    peer01, peer02 = open_session(["tcp/127.0.0.1:17448"])
+
+    keyexpr = "test/timestamp_stack"
+    msg = b"hello with timestamps"
+
+    received_sample = None
+
+    def sub_callback(sample: Sample):
+        nonlocal received_sample
+        received_sample = sample
+
+    publisher = peer01.declare_publisher(keyexpr)
+    subscriber = peer02.declare_subscriber(keyexpr, sub_callback)
+    time.sleep(SLEEP)
+
+    # Test with timestamp_instrumentation
+    instr = TimestampInstrumentationBuilder().set_send(True).set_receive(True).build()
+    publisher.put(msg, timestamp_instrumentation=instr)
+
+    time.sleep(SLEEP)
+    assert received_sample is not None
+    assert received_sample.timestamp_stack is not None
+    assert isinstance(received_sample.timestamp_stack, TimestampStack)
+
+    stack = received_sample.timestamp_stack
+    assert stack.instrumentation is not None
+    assert isinstance(stack.instrumentation, TimestampInstrumentation)
+    assert stack.instrumentation.is_instrumented(InterceptionPoint.SEND)
+    assert stack.instrumentation.is_instrumented(InterceptionPoint.RECEIVE)
+
+    assert len(stack.records) > 0
+    for record in stack.records:
+        assert record.point in [
+            InterceptionPoint.SEND,
+            InterceptionPoint.ROUTE,
+            InterceptionPoint.RECEIVE,
+        ]
+        # timestamp() returns either Timestamp or bytes
+        ts = record.timestamp()
+        assert ts is not None
+        if record.is_custom:
+            assert isinstance(ts, bytes)
+        else:
+            assert isinstance(ts, zenoh.Timestamp)
+
+    # Test without timestamp_instrumentation - should be None
+    received_sample = None
+    publisher.put(msg)
+    time.sleep(SLEEP)
+    assert received_sample is not None
+    assert received_sample.timestamp_stack is None
+
+    publisher.undeclare()
+    subscriber.undeclare()
+    close_session(peer01, peer02)
+
+
+def test_session_put_timestamp_stack():
+    """Test Session.put() with timestamp_instrumentation."""
+    zenoh.try_init_log_from_env()
+    peer01, peer02 = open_session(["tcp/127.0.0.1:17449"])
+
+    keyexpr = "test/session_timestamp_stack"
+    msg = b"session put with timestamps"
+
+    received_sample = None
+
+    def sub_callback(sample: Sample):
+        nonlocal received_sample
+        received_sample = sample
+
+    subscriber = peer02.declare_subscriber(keyexpr, sub_callback)
+    time.sleep(SLEEP)
+
+    instr = TimestampInstrumentationBuilder().set_send(True).set_receive(True).build()
+    peer01.put(keyexpr, msg, timestamp_instrumentation=instr)
+
+    time.sleep(SLEEP)
+    assert received_sample is not None
+    assert received_sample.timestamp_stack is not None
+    assert isinstance(received_sample.timestamp_stack, TimestampStack)
+
+    subscriber.undeclare()
+    close_session(peer01, peer02)
+
+
+def test_session_get_timestamp_stack():
+    """Test Session.get() with timestamp_instrumentation."""
+    zenoh.try_init_log_from_env()
+    peer01, peer02 = open_session(["tcp/127.0.0.1:17450"])
+
+    keyexpr = "test/get_timestamp_stack"
+
+    def queryable_callback(query):
+        # The query should have a timestamp_stack when instrumentation is enabled
+        query.reply(keyexpr, b"reply")
+
+    queryable = peer01.declare_queryable(keyexpr, queryable_callback)
+    time.sleep(SLEEP)
+
+    instr = TimestampInstrumentationBuilder().set_send(True).set_receive(True).build()
+    replies = peer02.get(keyexpr, timestamp_instrumentation=instr)
+    for reply in replies:
+        sample = reply.ok
+        if sample:
+            assert sample.timestamp_stack is not None
+            assert isinstance(sample.timestamp_stack, TimestampStack)
+            stack = sample.timestamp_stack
+            assert stack.instrumentation is not None
+            assert isinstance(stack.instrumentation, TimestampInstrumentation)
+            assert stack.instrumentation.is_instrumented(InterceptionPoint.SEND)
+            assert stack.instrumentation.is_instrumented(InterceptionPoint.RECEIVE)
+            assert len(stack.records) == 4
+
+    queryable.undeclare()
+    close_session(peer01, peer02)
+
+
+def test_delete_timestamp_stack():
+    """Test Publisher.delete() with timestamp_instrumentation."""
+    zenoh.try_init_log_from_env()
+    peer01, peer02 = open_session(["tcp/127.0.0.1:17451"])
+
+    keyexpr = "test/delete_timestamp_stack"
+
+    received_sample = None
+
+    def sub_callback(sample: Sample):
+        nonlocal received_sample
+        received_sample = sample
+
+    publisher = peer01.declare_publisher(keyexpr)
+    subscriber = peer02.declare_subscriber(keyexpr, sub_callback)
+    time.sleep(SLEEP)
+
+    instr = TimestampInstrumentationBuilder().set_send(True).set_receive(True).build()
+    publisher.delete(timestamp_instrumentation=instr)
+
+    time.sleep(SLEEP)
+    assert received_sample is not None
+    assert received_sample.kind == zenoh.SampleKind.DELETE
+    assert received_sample.timestamp_stack is not None
+    assert isinstance(received_sample.timestamp_stack, TimestampStack)
+
+    publisher.undeclare()
+    subscriber.undeclare()
+    close_session(peer01, peer02)
+
+
+def test_querier_get_timestamp_stack():
+    """Test Querier.get() with timestamp_instrumentation."""
+    zenoh.try_init_log_from_env()
+    peer01, peer02 = open_session(["tcp/127.0.0.1:17452"])
+
+    keyexpr = "test/querier_timestamp_stack"
+
+    def queryable_callback(query):
+        query.reply(keyexpr, b"reply from querier test")
+
+    queryable = peer01.declare_queryable(keyexpr, queryable_callback)
+    time.sleep(SLEEP)
+
+    querier = peer02.declare_querier(keyexpr)
+    time.sleep(SLEEP)
+
+    instr = TimestampInstrumentationBuilder().set_send(True).set_receive(True).build()
+    replies = querier.get(timestamp_instrumentation=instr)
+    for reply in replies:
+        sample = reply.ok
+        if sample:
+            assert sample.timestamp_stack is not None
+            assert isinstance(sample.timestamp_stack, TimestampStack)
+            stack = sample.timestamp_stack
+            assert stack.instrumentation is not None
+            assert isinstance(stack.instrumentation, TimestampInstrumentation)
+            assert stack.instrumentation.is_instrumented(InterceptionPoint.SEND)
+            assert stack.instrumentation.is_instrumented(InterceptionPoint.RECEIVE)
+            assert len(stack.records) == 4
+
+    # Test without timestamp_instrumentation - should be None
+    replies = querier.get()
+    for reply in replies:
+        sample = reply.ok
+        if sample:
+            assert sample.timestamp_stack is None
+
+    querier.undeclare()
+    queryable.undeclare()
+    close_session(peer01, peer02)
+
+
+def test_timestamp_callback():
+    """Test Session open with a timestamp callback."""
+    zenoh.try_init_log_from_env()
+
+    contexts = []
+    custom_timestamp = b"\xde\xad\xbe\xef"
+
+    def timestamp_callback(ctx: TimestampContext):
+        contexts.append({"zid": str(ctx.zid), "whatami": ctx.whatami})
+        return custom_timestamp
+
+    conf = zenoh.Config()
+    conf.insert_json5("listen/endpoints", json.dumps(["tcp/127.0.0.1:17453"]))
+    conf.insert_json5("scouting/multicast/enabled", "false")
+    peer01 = zenoh.open(conf, timestamp_callback=timestamp_callback)
+
+    conf = zenoh.Config()
+    conf.insert_json5("connect/endpoints", json.dumps(["tcp/127.0.0.1:17453"]))
+    conf.insert_json5("scouting/multicast/enabled", "false")
+    peer02 = zenoh.open(conf)
+
+    keyexpr = "test/timestamp_callback"
+    msg = b"hello with custom timestamps"
+
+    received_sample = None
+
+    def sub_callback(sample: Sample):
+        nonlocal received_sample
+        received_sample = sample
+
+    publisher = peer01.declare_publisher(keyexpr)
+    subscriber = peer02.declare_subscriber(keyexpr, sub_callback)
+    time.sleep(SLEEP)
+
+    instr = TimestampInstrumentationBuilder().set_send(True).set_receive(True).build()
+    publisher.put(msg, timestamp_instrumentation=instr)
+
+    time.sleep(SLEEP)
+    assert received_sample is not None
+    assert received_sample.timestamp_stack is not None
+    assert isinstance(received_sample.timestamp_stack, TimestampStack)
+
+    stack = received_sample.timestamp_stack
+    assert stack.instrumentation is not None
+    assert stack.instrumentation.is_instrumented(InterceptionPoint.SEND)
+    assert stack.instrumentation.is_instrumented(InterceptionPoint.RECEIVE)
+
+    assert len(stack.records) > 0
+
+    # The callback was set on peer01, so timestamps generated on peer01
+    # (Send and possibly Route) must be custom. The Receive timestamp is
+    # generated on peer02, which has no callback, so it remains UHLC.
+    custom_records = [r for r in stack.records if r.is_custom]
+    assert len(custom_records) > 0
+    for record in custom_records:
+        assert record.timestamp() == custom_timestamp
+
+    # The callback should have been invoked once per custom timestamp.
+    assert len(contexts) == len(custom_records)
+    for ctx in contexts:
+        assert ctx["whatami"] == zenoh.WhatAmI.PEER
+
+    publisher.undeclare()
+    subscriber.undeclare()
+    peer01.close()
+    peer02.close()
diff --git a/zenoh/__init__.pyi b/zenoh/__init__.pyi
index 5fe200e5..5f192c53 100644
--- a/zenoh/__init__.pyi
+++ b/zenoh/__init__.pyi
@@ -741,6 +741,7 @@ class Publisher:
         encoding: _IntoEncoding | None = None,
         attachment: _IntoZBytes | None = None,
         timestamp: Timestamp | None = None,
+        timestamp_instrumentation: TimestampInstrumentation | None = None,
         source_info: SourceInfo | None = None,
     ):
         """Publish data to :class:`Subscriber` instances matching this publisher's key expression.
@@ -754,6 +755,7 @@ class Publisher:
         *,
         attachment: _IntoZBytes | None = None,
         timestamp: Timestamp | None = None,
+        timestamp_instrumentation: TimestampInstrumentation | None = None,
         source_info: SourceInfo | None = None,
     ):
         """Declare that data associated with this publisher's key expression is deleted.
@@ -895,6 +897,15 @@ class Query:
     def source_info(self) -> SourceInfo | None:
         """Gets info on the source of this Query."""
 
+    @_unstable
+    @property
+    def timestamp_stack(self) -> TimestampStack | None:
+        """Gets the timestamp stack of this Query.
+
+        The timestamp stack carries interception records (Send, Route, Receive)
+        collected along the message's path through the network.
+        """
+
     def drop(self):
         """Drop the instance of a query.
         The query will only be finalized when all query instances (one per queryable
@@ -990,6 +1001,7 @@ class Querier:
         attachment: _IntoZBytes | None = None,
         source_info: SourceInfo | None = None,
         cancellation_token: CancellationToken | None = None,
+        timestamp_instrumentation: TimestampInstrumentation | None = None,
     ) -> Handler[Reply]:
         """Sends a query and returns a channel for processing replies.
 
@@ -1006,6 +1018,7 @@ class Querier:
         attachment: _IntoZBytes | None = None,
         source_info: SourceInfo | None = None,
         cancellation_token: CancellationToken | None = None,
+        timestamp_instrumentation: TimestampInstrumentation | None = None,
     ) -> _H:
         """Sends a query and returns a channel for processing replies.
 
@@ -1022,6 +1035,7 @@ class Querier:
         attachment: _IntoZBytes | None = None,
         source_info: SourceInfo | None = None,
         cancellation_token: CancellationToken | None = None,
+        timestamp_instrumentation: TimestampInstrumentation | None = None,
     ) -> None:
         """Sends a query and processes replies using the provided callback.
 
@@ -1205,6 +1219,15 @@ class ReplyError:
     def encoding(self) -> Encoding:
         """Gets the encoding of this `ReplyError`."""
 
+    @_unstable
+    @property
+    def timestamp_stack(self) -> TimestampStack | None:
+        """Gets the timestamp stack of this ReplyError.
+
+        The timestamp stack carries interception records (Send, Route, Receive)
+        collected along the message's path through the network.
+        """
+
 @final
 class SampleKind(Enum):
     """The kind of a :class:`Sample`, indicating whether it contains data or indicates deletion."""
@@ -1266,6 +1289,15 @@ class Sample:
     def source_info(self) -> SourceInfo | None:
         """Gets info on the source of this Sample."""
 
+    @_unstable
+    @property
+    def timestamp_stack(self) -> TimestampStack | None:
+        """Gets the timestamp stack of this Sample.
+
+        The timestamp stack carries interception records (Send, Route, Receive)
+        collected along the message's path through the network.
+        """
+
 @final
 class Scout(Generic[_H]):
     """A Scout object that yields :class:`zenoh.Hello` messages for discovered Zenoh nodes on the network.
@@ -1438,6 +1470,7 @@ class Session:
         express: bool | None = None,
         attachment: _IntoZBytes | None = None,
         timestamp: Timestamp | None = None,
+        timestamp_instrumentation: TimestampInstrumentation | None = None,
         allowed_destination: Locality | None = None,
         source_info: SourceInfo | None = None,
     ):
@@ -1455,6 +1488,7 @@ class Session:
         express: bool | None = None,
         attachment: _IntoZBytes | None = None,
         timestamp: Timestamp | None = None,
+        timestamp_instrumentation: TimestampInstrumentation | None = None,
         allowed_destination: Locality | None = None,
         source_info: SourceInfo | None = None,
     ):
@@ -1482,6 +1516,7 @@ class Session:
         allowed_destination: Locality | None = None,
         source_info: SourceInfo | None = None,
         cancellation_token: CancellationToken | None = None,
+        timestamp_instrumentation: TimestampInstrumentation | None = None,
     ) -> Handler[Reply]:
         """Query data from the matching queryables in the system.
 
@@ -1507,6 +1542,7 @@ class Session:
         allowed_destination: Locality | None = None,
         source_info: SourceInfo | None = None,
         cancellation_token: CancellationToken | None = None,
+        timestamp_instrumentation: TimestampInstrumentation | None = None,
     ) -> _H:
         """Query data from the matching queryables in the system.
 
@@ -1532,6 +1568,7 @@ class Session:
         allowed_destination: Locality | None = None,
         source_info: SourceInfo | None = None,
         cancellation_token: CancellationToken | None = None,
+        timestamp_instrumentation: TimestampInstrumentation | None = None,
     ) -> None:
         """Query data from the matching queryables in the system.
 
@@ -2128,6 +2165,120 @@ Used in :meth:`Timestamp.__new__` to accept various byte representations
 that can be converted to a :class:`TimestampId`.
 """
 
+@_unstable
+@final
+class InterceptionPoint(Enum):
+    """Identifies which interception point a timestamp record was captured at."""
+
+    SEND = auto()
+    ROUTE = auto()
+    RECEIVE = auto()
+
+@_unstable
+@final
+class TimestampContext:
+    """Context passed to the timestamp callback.
+
+    Provides information about the current Zenoh node.
+    """
+
+    @property
+    def zid(self) -> ZenohId:
+        """The Zenoh ID of the current node."""
+
+    @property
+    def whatami(self) -> WhatAmI:
+        """The mode of the current node (router, peer, or client)."""
+
+    def __repr__(self) -> str: ...
+
+@_unstable
+@final
+class TimestampInstrumentationBuilder:
+    """Builder for creating :class:`TimestampInstrumentation` instances.
+
+    Used to configure which interception points (Send, Route, Receive)
+    should record timestamps in the timestamp stack.
+    """
+
+    def __new__(cls) -> Self: ...
+    def set_send(self, enabled: bool) -> Self:
+        """Enable or disable recording timestamps at the Send point."""
+
+    def set_route(self, enabled: bool) -> Self:
+        """Enable or disable recording timestamps at the Route point."""
+
+    def set_receive(self, enabled: bool) -> Self:
+        """Enable or disable recording timestamps at the Receive point."""
+
+    def build(self) -> TimestampInstrumentation:
+        """Build the :class:`TimestampInstrumentation` configuration.
+
+        Raises:
+            ZError: If no interception points are enabled.
+        """
+
+@_unstable
+@final
+class TimestampInstrumentation:
+    """Configuration for which interception points are active in timestamp stack instrumentation.
+
+    Build via :class:`TimestampInstrumentationBuilder`.
+    """
+
+    def is_instrumented(self, point: InterceptionPoint) -> bool:
+        """Check if the given interception point is instrumented."""
+
+    def __repr__(self) -> str: ...
+
+@_unstable
+@final
+class TimestampStackRecord:
+    """A single interception record in a timestamp stack.
+
+    Represents one timestamp captured at a specific interception point
+    along a message's path through the network.
+    """
+
+    @property
+    def point(self) -> InterceptionPoint:
+        """The interception point where this record was captured."""
+
+    @property
+    def is_custom(self) -> bool:
+        """Whether the timestamp was produced by a user-defined callback.
+
+        Returns ``True`` for custom timestamps, ``False`` for standard UHLC timestamps.
+        """
+
+    def timestamp(self) -> Timestamp | bytes:
+        """The timestamp value.
+
+        Returns a :class:`Timestamp` for UHLC timestamps, or ``bytes`` for custom timestamps.
+        Use :meth:`is_custom` to determine which type to expect.
+        """
+
+    def __repr__(self) -> str: ...
+
+@_unstable
+@final
+class TimestampStack:
+    """The complete timestamp stack carried by a received message.
+
+    Contains the instrumentation configuration and the ordered list of
+    interception records collected as the message traversed the network.
+    """
+
+    @property
+    def instrumentation(self) -> TimestampInstrumentation:
+        """The instrumentation configuration for this stack."""
+
+    @property
+    def records(self) -> list[TimestampStackRecord]:
+        """The ordered list of interception records."""
+
+    def __repr__(self) -> str: ...
+
 @final
 class WhatAmI(Enum):
     """The type of the node in the Zenoh network.
@@ -2260,10 +2411,20 @@ def init_log_from_env_or(level: str):
     For example, `RUST_LOG=debug` will set the log level to DEBUG.
     If `RUST_LOG` is not set, then logging is set to the provided level."""
 
-def open(config: Config) -> Session:
+def open(
+    config: Config,
+    *,
+    timestamp_callback: Callable[[TimestampContext], bytes] | None = None,
+) -> Session:
     """Open a zenoh :class:`zenoh.Session`.
 
     For more information about sessions and configuration, see :ref:`session-and-config`.
+
+    Args:
+        config: The configuration for the session.
+        timestamp_callback: An optional callback invoked at each interception point
+            (Send, Route, Receive) when timestamp stack instrumentation is enabled.
+            The callback receives a :class:`TimestampContext` and must return ``bytes``.
     """
 
 # Common docstring for all scout function overloads
diff --git a/zenoh/ext.pyi b/zenoh/ext.pyi
index 46676060..26e360aa 100644
--- a/zenoh/ext.pyi
+++ b/zenoh/ext.pyi
@@ -27,6 +27,7 @@ from zenoh import (
     Session,
     Subscriber,
     Timestamp,
+    TimestampInstrumentation,
     ZBytes,
     handlers,
 )
@@ -164,6 +165,7 @@ class AdvancedPublisher:
         encoding: _IntoEncoding | None = None,
         attachment: _IntoZBytes | None = None,
         timestamp: Timestamp | None = None,
+        timestamp_instrumentation: TimestampInstrumentation | None = None,
     ):
         """Publish data to the key expression. See :meth:`zenoh.Publisher.put`."""
 
@@ -172,6 +174,7 @@ class AdvancedPublisher:
         *,
         attachment: _IntoZBytes | None = None,
         timestamp: Timestamp | None = None,
+        timestamp_instrumentation: TimestampInstrumentation | None = None,
     ):
         """Delete the value associated with the key expression. See :meth:`zenoh.Publisher.delete`."""