diff --git a/fuzz/CMakeLists.txt b/fuzz/CMakeLists.txt
index 771dc5cd5e..1b8ac70e17 100644
--- a/fuzz/CMakeLists.txt
+++ b/fuzz/CMakeLists.txt
@@ -17,4 +17,5 @@ include("${CMAKE_SOURCE_DIR}/cmake/Modules/Generate.cmake")
 add_subdirectory(fuzz_config_init)
 add_subdirectory(fuzz_handle_rtps_message)
 add_subdirectory(fuzz_type_object)
+add_subdirectory(fuzz_sample_deser)
 # add_subdirectory(fuzz_idlc)
diff --git a/fuzz/fuzz_sample_deser/CMakeLists.txt b/fuzz/fuzz_sample_deser/CMakeLists.txt
new file mode 100644
index 0000000000..d2e0c21ea7
--- /dev/null
+++ b/fuzz/fuzz_sample_deser/CMakeLists.txt
@@ -0,0 +1,20 @@
+cmake_minimum_required(VERSION 3.5)
+project(fuzz_sample_deser LANGUAGES C)
+
+if(NOT TARGET CycloneDDS::ddsc)
+  # Find the CycloneDDS package.
+  find_package(CycloneDDS REQUIRED)
+endif()
+
+idlc_generate(TARGET fuzz_sample FILES fuzz_sample.idl WARNINGS no-implicit-extensibility)
+add_executable(fuzz_sample_deser fuzz_sample_deser.c fuzz_sample.c)
+target_include_directories(
+  fuzz_sample_deser PRIVATE
+  "$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>/"
+  "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/../../src/core/ddsc/src>"
+  "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/../../src/core/cdr/include>"
+  "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/../../src/core/ddsi/include>"
+  "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/../../src/core/ddsi/src>")
+  
+target_compile_options(fuzz_sample_deser PRIVATE -fsanitize=fuzzer,address -g)
+target_link_libraries(fuzz_sample_deser fuzz_sample CycloneDDS::ddsc -fsanitize=fuzzer,address)
diff --git a/fuzz/fuzz_sample_deser/fuzz_sample_deser.c b/fuzz/fuzz_sample_deser/fuzz_sample_deser.c
new file mode 100644
index 0000000000..3b7502371a
--- /dev/null
+++ b/fuzz/fuzz_sample_deser/fuzz_sample_deser.c
@@ -0,0 +1,35 @@
+#include <ddsi__serdata_cdr.h>
+#include <dds/ddsrt/heap.h>
+#include <string.h>
+
+#include "fuzz_samples.h"
+
+static void __attribute__((constructor)) print_idl_types_seed() {
+    printf("IDL types seed: %s\n", idl_types_seed);
+}
+
+static void topic_to_descriptor(struct dds_cdrstream_desc *desc, const dds_topic_descriptor_t *t) {
+    memset(desc, 0, sizeof(struct dds_cdrstream_desc));
+    dds_cdrstream_desc_init(desc, &dds_cdrstream_default_allocator, t->m_size, t->m_align, t->m_flagset, t->m_ops, NULL, 0);
+}
+
+int LLVMFuzzerTestOneInput(void *data, size_t size)
+{
+    uint32_t actual_size;
+
+    for(size_t i = 0; i < sizeof(fixed_types)/sizeof(fixed_types[0]); i++) {
+        const struct dds_topic_descriptor *topic = fixed_types[i];
+        struct dds_cdrstream_desc desc;
+        topic_to_descriptor(&desc, topic);
+        if (dds_stream_normalize(data, (uint32_t) size, false, DDSI_RTPS_CDR_ENC_VERSION_2, &desc, false, &actual_size)) {
+            void *sample = ddsrt_calloc(1, desc.size);
+            dds_istream_t is;
+            dds_istream_init(&is, (uint32_t) size, data, DDSI_RTPS_CDR_ENC_VERSION_2);
+            dds_stream_read_sample(&is, sample, &dds_cdrstream_default_allocator, &desc);
+            dds_stream_free_sample(sample, &dds_cdrstream_default_allocator, desc.ops.ops);
+            ddsrt_free(sample);
+        }
+        dds_cdrstream_desc_fini(&desc, &dds_cdrstream_default_allocator);
+    }
+    return 0;
+}
diff --git a/fuzz/fuzz_sample_deser/generate_idl.py b/fuzz/fuzz_sample_deser/generate_idl.py
new file mode 100644
index 0000000000..e657e1f71f
--- /dev/null
+++ b/fuzz/fuzz_sample_deser/generate_idl.py
@@ -0,0 +1,54 @@
+#!/usr/bin/env python
+
+import sys
+import os
+from fuzz_tools.rand_idl.creator import generate_random_types, generate_random_idl
+from fuzz_tools.rand_idl.value import generate_random_instance
+from fuzz_tools.rand_idl.compile import compile_idl
+
+def die(code, s):
+    print(s, file=sys.stderr)
+    sys.exit(code)
+
+MODULE_NAME = "Fuzz"
+CORPUS="fuzz_sample_deser_seed_corpus"
+if __name__ == '__main__':
+    if len(sys.argv) != 3:
+        die(0, "Usage: {} <seed> <target_directory>")
+    seed = int(sys.argv[1], 16)
+    directory = sys.argv[2]
+    if not os.path.isdir(directory):
+        die(-1, f"{directory} is not a directory")
+
+    # Generate random idl
+    scope = generate_random_types(MODULE_NAME, number=25, seed=seed)
+    idl_text = generate_random_idl(scope)
+    with open(os.path.join(directory, "fuzz_sample.idl"), "w") as f:
+        f.write(idl_text)
+
+    # Hacky way to identify top-level types.
+    toplvltypes = [e for e in scope.entities if getattr(e, "extensibility", False)]
+    # Generate fuzz_samples.h, collecting all generated types
+    with open(os.path.join(directory, "fuzz_samples.h"), "w") as f:
+        f.write("#include \"fuzz_sample.h\"\n")
+        f.write("static const char *idl_types_seed = \"{}\";".format(sys.argv[1]))
+        f.write("static const struct dds_topic_descriptor *fixed_types[] = {\n")
+        for entity in toplvltypes:
+            entry = "&{}_{}_desc".format(MODULE_NAME, entity.name)
+            if entity != scope.entities[-1]:
+                f.write(f"\t{entry},\n")
+            else:
+                f.write(f"\t{entry}\n")
+        f.write("};\n")
+
+    # Generate initial corpus
+    imported, tdir = compile_idl(idl_text, MODULE_NAME)
+    corpus = os.path.join(directory, CORPUS)
+    if not os.path.isdir(corpus):
+        os.mkdir(corpus)
+    for entity in toplvltypes:
+        t = getattr(imported.__fuzzytypes, entity.name)
+        sample = generate_random_instance(t, seed=seed)
+        fname = "seed_{}".format(entity.name)
+        with open(os.path.join(corpus, fname), "wb") as f:
+            f.write(sample.serialize())
diff --git a/fuzz/fuzz_sample_deser/prepare.sh b/fuzz/fuzz_sample_deser/prepare.sh
new file mode 100644
index 0000000000..1813862a5c
--- /dev/null
+++ b/fuzz/fuzz_sample_deser/prepare.sh
@@ -0,0 +1,34 @@
+#!/bin/bash -eu
+
+prepare_fuzz_deser() {
+    apt-get -y install python3 python3-pip libssl-dev
+    mkdir -p build_python install
+    export CYCLONEDDS_HOME="$(pwd)/install"
+    fuzzer="$(pwd)/fuzz/fuzz_sample_deser"
+    cd build_python
+    
+    # This builds cyclone for the python tool, the fuzzer is built later
+    cmake \
+        -DBUILD_IDLC=ON \
+        -DBUILD_TESTING=OFF \
+        -DBUILD_SHARED_LIBS=ON \
+        -DBUILD_EXAMPLES=NO \
+        -DENABLE_SECURITY=NO \
+        -DENABLE_SSL=NO \
+        -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
+        -DCMAKE_INSTALL_PREFIX=../install ..
+    cmake --build .
+    cmake --build . --target install
+    
+    rm -rf cyclonedds-python
+    git clone --depth=1 https://github.com/eclipse-cyclonedds/cyclonedds-python.git
+    pip3 install ./cyclonedds-python
+    ln -sf "$(pwd)/cyclonedds-python/tests/support_modules/fuzz_tools" "${fuzzer}/fuzz_tools"
+    
+    # Use current git HEAD hash as seed
+    seed=$(git ls-remote https://github.com/eclipse-cyclonedds/cyclonedds HEAD |cut -f1)
+    PATH=${CYCLONEDDS_HOME}/bin:$PATH python3 "${fuzzer}/generate_idl.py" $seed "${fuzzer}"
+}
+
+export -f prepare_fuzz_deser
+env -u CFLAGS -u CXXFLAGS -u LIB_FUZZING_ENGINE bash -euc prepare_fuzz_deser
diff --git a/fuzz/oss-fuzz-build.sh b/fuzz/oss-fuzz-build.sh
index 02dde69421..29176988ea 100644
--- a/fuzz/oss-fuzz-build.sh
+++ b/fuzz/oss-fuzz-build.sh
@@ -12,6 +12,7 @@
 # SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause
 #
 
+source fuzz/fuzz_sample_deser/prepare.sh
 (
 mkdir build
 cd build