diff --git a/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp b/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp
index ccb82121e5..3046bfa910 100644
--- a/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp
+++ b/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp
@@ -189,6 +189,9 @@ class JointTrajectoryController : public controller_interface::ControllerInterfa
   rclcpp::TimerBase::SharedPtr goal_handle_timer_;
   rclcpp::Duration action_monitor_period_ = rclcpp::Duration(50ms);
 
+  // Pre-allocated action feedback message to avoid heap allocation in RT loop
+  std::shared_ptr<FollowJTrajAction::Feedback> preallocated_feedback_;
+
   // callback for topic interface
   void topic_callback(const std::shared_ptr<trajectory_msgs::msg::JointTrajectory> msg);
 
diff --git a/joint_trajectory_controller/src/joint_trajectory_controller.cpp b/joint_trajectory_controller/src/joint_trajectory_controller.cpp
index 5bc8da69c9..57c1ccbb02 100644
--- a/joint_trajectory_controller/src/joint_trajectory_controller.cpp
+++ b/joint_trajectory_controller/src/joint_trajectory_controller.cpp
@@ -367,16 +367,13 @@ controller_interface::return_type JointTrajectoryController::update(
 
       if (active_goal)
       {
-        // send feedback
-        auto feedback = std::make_shared<FollowJTrajAction::Feedback>();
-        feedback->header.stamp = time;
-        feedback->joint_names = params_.joints;
-
-        feedback->actual = state_current_;
-        feedback->desired = state_desired_;
-        feedback->error = state_error_;
-        feedback->index = static_cast<int32_t>(next_point_index);
-        active_goal->setFeedback(feedback);
+        // send feedback using preallocated message to avoid heap allocation in RT loop
+        preallocated_feedback_->header.stamp = time;
+        preallocated_feedback_->actual = state_current_;
+        preallocated_feedback_->desired = state_desired_;
+        preallocated_feedback_->error = state_error_;
+        preallocated_feedback_->index = static_cast<int32_t>(next_point_index);
+        active_goal->setFeedback(preallocated_feedback_);
 
         // check abort
         if (tolerance_violated_while_moving)
@@ -1938,6 +1935,10 @@ void JointTrajectoryController::init_hold_position_msg()
   {
     hold_position_msg_ptr_->points[0].effort.resize(dof_, 0.0);
   }
+
+  // Pre-allocate feedback message to avoid heap allocation in RT loop
+  preallocated_feedback_ = std::make_shared<FollowJTrajAction::Feedback>();
+  preallocated_feedback_->joint_names = params_.joints;
 }
 
 }  // namespace joint_trajectory_controller