diff --git a/rcl_yaml_param_parser/src/impl/parse.h b/rcl_yaml_param_parser/src/impl/parse.h
index 781e8f52d..e8dd204f3 100644
--- a/rcl_yaml_param_parser/src/impl/parse.h
+++ b/rcl_yaml_param_parser/src/impl/parse.h
@@ -33,6 +33,7 @@ RCUTILS_WARN_UNUSED
 void * get_value(
   const char * const value,
   yaml_scalar_style_t style,
+  const yaml_char_t * const tag,
   data_types_t * val_type,
   const rcutils_allocator_t allocator);
 
diff --git a/rcl_yaml_param_parser/src/parse.c b/rcl_yaml_param_parser/src/parse.c
index acce68a92..967d437d2 100644
--- a/rcl_yaml_param_parser/src/parse.c
+++ b/rcl_yaml_param_parser/src/parse.c
@@ -74,6 +74,7 @@ _validate_name(const char * name, rcutils_allocator_t allocator);
 void * get_value(
   const char * const value,
   yaml_scalar_style_t style,
+  const yaml_char_t * const tag,
   data_types_t * val_type,
   const rcutils_allocator_t allocator)
 {
@@ -87,6 +88,12 @@ void * get_value(
   RCUTILS_CHECK_ALLOCATOR_WITH_MSG(
     &allocator, "allocator is invalid", return NULL);
 
+  /// Check for yaml string tag
+  if (tag != NULL && strcmp(YAML_STR_TAG, (char *)tag) == 0) {
+    *val_type = DATA_TYPE_STRING;
+    return rcutils_strdup(value, allocator);
+  }
+
   /// Check if it is bool
   if (style != YAML_SINGLE_QUOTED_SCALAR_STYLE &&
     style != YAML_DOUBLE_QUOTED_SCALAR_STYLE)
@@ -233,6 +240,7 @@ rcutils_ret_t parse_value(
   const size_t val_size = event.data.scalar.length;
   const char * value = (char *)event.data.scalar.value;
   yaml_scalar_style_t style = event.data.scalar.style;
+  const yaml_char_t * const tag = event.data.scalar.tag;
   const uint32_t line_num = ((uint32_t)(event.start_mark.line) + 1U);
 
   RCUTILS_CHECK_FOR_NULL_WITH_MSG(
@@ -254,7 +262,7 @@ rcutils_ret_t parse_value(
   rcl_variant_t * param_value = &(params_st->params[node_idx].parameter_values[parameter_idx]);
 
   data_types_t val_type;
-  void * ret_val = get_value(value, style, &val_type, allocator);
+  void * ret_val = get_value(value, style, tag, &val_type, allocator);
   if (NULL == ret_val) {
     RCUTILS_SET_ERROR_MSG_WITH_FORMAT_STRING(
       "Error parsing value %s at line %d", value, line_num);
diff --git a/rcl_yaml_param_parser/test/correct_config.yaml b/rcl_yaml_param_parser/test/correct_config.yaml
index 51d1bb618..502b3e3d9 100644
--- a/rcl_yaml_param_parser/test/correct_config.yaml
+++ b/rcl_yaml_param_parser/test/correct_config.yaml
@@ -49,3 +49,8 @@ intel:
   ros__parameters:
     num_cores: 8
     arch: x86_64
+string_tag:
+  ros__parameters:
+    string_bool: !!str yes
+    string_int: !!str 1234
+    string_double: !!str 12.34
diff --git a/rcl_yaml_param_parser/test/test_parse_yaml.cpp b/rcl_yaml_param_parser/test/test_parse_yaml.cpp
index 0c50eda91..9a357c7c2 100644
--- a/rcl_yaml_param_parser/test/test_parse_yaml.cpp
+++ b/rcl_yaml_param_parser/test/test_parse_yaml.cpp
@@ -194,6 +194,19 @@ TEST(test_parser, correct_syntax) {
     ASSERT_EQ(1U, param_value->string_array_value->size);
     EXPECT_STREQ("Mobius", param_value->string_array_value->data[0]);
 
+    param_value = rcl_yaml_node_struct_get("string_tag", "string_bool", params);
+    ASSERT_TRUE(NULL != param_value) << rcutils_get_error_string().str;
+    ASSERT_TRUE(NULL != param_value->string_value);
+    EXPECT_STREQ("yes", param_value->string_value);
+    param_value = rcl_yaml_node_struct_get("string_tag", "string_int", params);
+    ASSERT_TRUE(NULL != param_value) << rcutils_get_error_string().str;
+    ASSERT_TRUE(NULL != param_value->string_value);
+    EXPECT_STREQ("1234", param_value->string_value);
+    param_value = rcl_yaml_node_struct_get("string_tag", "string_double", params);
+    ASSERT_TRUE(NULL != param_value) << rcutils_get_error_string().str;
+    ASSERT_TRUE(NULL != param_value->string_value);
+    EXPECT_STREQ("12.34", param_value->string_value);
+
     rcl_yaml_node_struct_print(params);
   }
 }