diff --git a/rosidl_generator_py/CMakeLists.txt b/rosidl_generator_py/CMakeLists.txt
index e5ff834f..69f874c2 100644
--- a/rosidl_generator_py/CMakeLists.txt
+++ b/rosidl_generator_py/CMakeLists.txt
@@ -49,6 +49,7 @@ if(BUILD_TESTING)
       msg/BuiltinTypeSequencesIdl.idl
       msg/StringArrays.msg
       msg/Property.msg
+      msg/TestDeprecated.idl
       ADD_LINTER_TESTS
       SKIP_INSTALL
     )
@@ -75,6 +76,12 @@ if(BUILD_TESTING)
       APPEND_LIBRARY_DIRS "${_append_library_dirs}"
       WORKING_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_py"
     )
+
+    ament_add_pytest_test(test_deprecated_py test/test_deprecated.py
+      APPEND_ENV "PYTHONPATH=${pythonpath}"
+      APPEND_LIBRARY_DIRS "${_append_library_dirs}"
+      WORKING_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_py"
+    )
   endif()
 endif()
 
diff --git a/rosidl_generator_py/msg/TestDeprecated.idl b/rosidl_generator_py/msg/TestDeprecated.idl
new file mode 100644
index 00000000..6b5ed29f
--- /dev/null
+++ b/rosidl_generator_py/msg/TestDeprecated.idl
@@ -0,0 +1,9 @@
+module rosidl_generator_py {
+  module msg {
+    struct TestDeprecated {
+      @deprecated ( text="Use distance_meters instead")
+      uint8 distance_cm;
+      double distance_meters;
+    };
+  };
+};
diff --git a/rosidl_generator_py/resource/_msg.py.em b/rosidl_generator_py/resource/_msg.py.em
index f53a000d..3b1b8c39 100644
--- a/rosidl_generator_py/resource/_msg.py.em
+++ b/rosidl_generator_py/resource/_msg.py.em
@@ -83,6 +83,9 @@ for member in message.structure.members:
     if member.name != EMPTY_STRUCTURE_REQUIRED_MEMBER_NAME:
         imports.setdefault(
             'import builtins', [])  # used for @builtins.property
+    if member.has_annotation('deprecated'):
+        imports.setdefault(
+            'from typing_extensions import deprecated as _deprecated', [])
     if isinstance(type_, BasicType) and type_.typename in FLOATING_POINT_TYPES:
         imports.setdefault(
             'import math', [])  # used for math.isinf
@@ -417,7 +420,7 @@ if isinstance(type_, AbstractNestedType):
         typename.append(self.__class__.__name__)
         args: list[str] = []
         for s, t in zip(self.get_fields_and_field_types().keys(), self.SLOT_TYPES):
-            field = getattr(self, s)
+            field = getattr(self, '_' + s)
             fieldstr = repr(field)
             # We use Python array type for fields that can be directly stored
             # in them, and "normal" sequences for everything else.  If it is
@@ -446,9 +449,9 @@ if isinstance(type_, AbstractNestedType):
 @[    continue]@
 @[  end if]@
 @[  if isinstance(member.type, Array) and isinstance(member.type.value_type, BasicType) and member.type.value_type.typename in SPECIAL_NESTED_BASIC_TYPES]@
-        if any(self.@(member.name) != other.@(member.name)):
+        if any(self._@(member.name) != other._@(member.name)):
 @[  else]@
-        if self.@(member.name) != other.@(member.name):
+        if self._@(member.name) != other._@(member.name):
 @[  end if]@
             return False
 @[end for]@
@@ -476,12 +479,24 @@ array_type_commment = ''
 if isinstance(member.type, (Array, AbstractSequence)):
     array_type_commment = '   # typing.Annotated can be remove after mypy 1.16+ see mypy#3004'
 }@
+@[  if member.has_annotation('deprecated')]@
+@{
+deprecation_annotation = member.get_annotation_value('deprecated')
+deprecation_text = deprecation_annotation.get('text', '') if isinstance(deprecation_annotation, dict) else ''
+}@
+@[  end if]@
     @@builtins.property@(noqa_string)
+@[  if member.has_annotation('deprecated')]@
+    @@_deprecated('@(deprecation_text)')@(noqa_string)
+@[  end if]@
     def @(member.name)(self) -> @(type_annotations_getter[member.name]):@(noqa_string)@(array_type_commment)
         """Message field '@(member.name)'."""
         return self._@(member.name)
 
     @@@(member.name).setter@(noqa_string)
+@[  if member.has_annotation('deprecated')]@
+    @@_deprecated('@(deprecation_text)')@(noqa_string)
+@[  end if]@
     def @(member.name)(self, value: @(type_annotations_setter[member.name])) -> None:@(noqa_string)
 @[  if isinstance(member.type, AbstractNestedType)]@
         if isinstance(value, collections.abc.Set):
diff --git a/rosidl_generator_py/resource/_msg_support.c.em b/rosidl_generator_py/resource/_msg_support.c.em
index 36a29454..f41d04a4 100644
--- a/rosidl_generator_py/resource/_msg_support.c.em
+++ b/rosidl_generator_py/resource/_msg_support.c.em
@@ -202,6 +202,9 @@ if isinstance(type_, AbstractNestedType):
     type_ = type_.value_type
 }@
   {  // @(member.name)
+@[  if member.has_annotation('deprecated')]@
+    DISABLE_DEPRECATED_PUSH
+@[  end if]@
     PyObject * field = PyObject_GetAttrString(_pymsg, "@(member.name)");
     if (!field) {
       return false;
@@ -512,6 +515,9 @@ nested_type = '__'.join(type_.namespaced_name())
     assert(false);
 @[  end if]@
     Py_DECREF(field);
+@[  if member.has_annotation('deprecated')]@
+    DISABLE_DEPRECATED_POP
+@[  end if]@
   }
 @[end for]@
 
@@ -550,6 +556,9 @@ if isinstance(type_, AbstractNestedType):
     type_ = type_.value_type
 }@
   {  // @(member.name)
+@[  if member.has_annotation('deprecated')]@
+    DISABLE_DEPRECATED_PUSH
+@[  end if]@
     PyObject * field = NULL;
 @[ if isinstance(member.type, AbstractNestedType) and isinstance(member.type.value_type, BasicType) and member.type.value_type.typename in SPECIAL_NESTED_BASIC_TYPES]@
 @[    if isinstance(member.type, Array)]@
@@ -795,6 +804,9 @@ nested_type = '__'.join(type_.namespaced_name())
       }
     }
 @[ end if]@
+@[  if member.has_annotation('deprecated')]@
+    DISABLE_DEPRECATED_POP
+@[  end if]@
   }
 @[end for]@
 
diff --git a/rosidl_generator_py/test/test_deprecated.py b/rosidl_generator_py/test/test_deprecated.py
new file mode 100644
index 00000000..65198978
--- /dev/null
+++ b/rosidl_generator_py/test/test_deprecated.py
@@ -0,0 +1,64 @@
+# Copyright 2026 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import warnings
+
+import pytest
+
+from rosidl_generator_py.msg import TestDeprecated
+
+
+def test_deprecated_field_getter_emits_warning():
+    """Test that accessing a deprecated field emits a DeprecationWarning."""
+    msg = TestDeprecated()
+
+    with pytest.warns(DeprecationWarning, match='Use distance_meters instead'):
+        _ = msg.distance_cm
+
+
+def test_deprecated_field_setter_emits_warning():
+    """Test that setting a deprecated field emits a DeprecationWarning."""
+    msg = TestDeprecated()
+
+    with pytest.warns(DeprecationWarning, match='Use distance_meters instead'):
+        msg.distance_cm = 42
+
+
+def test_non_deprecated_field_no_warning():
+    """Test that accessing non-deprecated fields does not emit a warning."""
+    msg = TestDeprecated()
+
+    with warnings.catch_warnings():
+        warnings.simplefilter('error', DeprecationWarning)
+        # Should not raise - distance_meters is not deprecated
+        _ = msg.distance_meters
+
+
+def test_deprecated_field_values():
+    """Test that deprecated fields still work correctly for values."""
+    msg = TestDeprecated()
+
+    # Suppress the deprecation warnings for value testing
+    with warnings.catch_warnings():
+        warnings.simplefilter('ignore', DeprecationWarning)
+
+        # Default value
+        assert msg.distance_cm == 0
+        assert msg.distance_meters == 0.0
+
+        # Set and get
+        msg.distance_cm = 10
+        msg.distance_meters = 1.5
+        assert msg.distance_cm == 10
+        assert msg.distance_meters == 1.5