diff --git a/CHANGELOG.md b/CHANGELOG.md
index a6186d64d4..7e6ddf187a 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -5,6 +5,7 @@ All notable changes to this project are documented in this file.
 ### Added
 - Add `ZMPgenerator` to `UnicycleTrajectoryGenerator` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/916)
 - Add `VariableFeasibleRegionTaskVariableFeasibleRegionTask` in the TSID controller (https://github.com/ami-iit/bipedal-locomotion-framework/pull/922)
+- Add `getCurrentTime` to the `FixedFootDetector` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/928)
 
 ### Changed
 - Some improvements on the YarpRobotLoggerDevice (https://github.com/ami-iit/bipedal-locomotion-framework/pull/910)
diff --git a/src/Contacts/include/BipedalLocomotion/ContactDetectors/FixedFootDetector.h b/src/Contacts/include/BipedalLocomotion/ContactDetectors/FixedFootDetector.h
index 7c0d2dbf97..8c51dc0ad3 100644
--- a/src/Contacts/include/BipedalLocomotion/ContactDetectors/FixedFootDetector.h
+++ b/src/Contacts/include/BipedalLocomotion/ContactDetectors/FixedFootDetector.h
@@ -116,6 +116,12 @@ class FixedFootDetector : public ContactDetector
      * @return the fixed foot.
      */
     const EstimatedContact& getFixedFoot() const;
+
+    /**
+     * Get the fixed foot detector current time.
+     * @return the fixed foot detector current time.
+     */
+    const std::chrono::nanoseconds& getCurrentTime() const;
 };
 
 } // namespace Contacts
diff --git a/src/Contacts/src/FixedFootDetector.cpp b/src/Contacts/src/FixedFootDetector.cpp
index 30ff8847a0..5eb148f4c6 100644
--- a/src/Contacts/src/FixedFootDetector.cpp
+++ b/src/Contacts/src/FixedFootDetector.cpp
@@ -266,3 +266,8 @@ const EstimatedContact& FixedFootDetector::getFixedFoot() const
     log()->error("{} Unable to find the fixed foot. This should never happen.", logPrefix);
     return m_dummyContact;
 }
+
+const std::chrono::nanoseconds& FixedFootDetector::getCurrentTime() const
+{
+    return m_currentTime;
+};