diff --git a/rclcpp_lifecycle/CMakeLists.txt b/rclcpp_lifecycle/CMakeLists.txt
index 0515296b96..5d64b4c72f 100644
--- a/rclcpp_lifecycle/CMakeLists.txt
+++ b/rclcpp_lifecycle/CMakeLists.txt
@@ -120,6 +120,16 @@ if(BUILD_TESTING)
       rclcpp::rclcpp
       test_msgs::test_msgs)
   endif()
+  ament_add_gtest(
+    test_lifecycle_generic_publisher
+    test/test_lifecycle_generic_publisher.cpp)
+  if(TARGET test_lifecycle_generic_publisher)
+    target_link_libraries(
+      test_lifecycle_generic_publisher
+      ${PROJECT_NAME}
+      rclcpp::rclcpp
+      test_msgs::test_msgs)
+  endif()
   ament_add_ros_isolated_gtest(
     test_lifecycle_wait_for_message
     test/test_lifecycle_wait_for_message.cpp
diff --git a/rclcpp_lifecycle/test/test_lifecycle_generic_publisher.cpp b/rclcpp_lifecycle/test/test_lifecycle_generic_publisher.cpp
new file mode 100644
index 0000000000..3bce5f88c6
--- /dev/null
+++ b/rclcpp_lifecycle/test/test_lifecycle_generic_publisher.cpp
@@ -0,0 +1,112 @@
+// 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.
+
+#include <gtest/gtest.h>
+
+#include <memory>
+#include <string>
+
+#include "rclcpp/callback_group.hpp"
+#include "rclcpp/exceptions.hpp"
+#include "rclcpp/generic_publisher.hpp"
+#include "rclcpp/publisher_options.hpp"
+#include "rclcpp/qos.hpp"
+#include "rclcpp/serialized_message.hpp"
+#include "rclcpp/utilities.hpp"
+#include "rclcpp_lifecycle/lifecycle_node.hpp"
+
+class TestLifecycleGenericPublisher : public ::testing::Test
+{
+public:
+  static void SetUpTestSuite()
+  {
+    rclcpp::init(0, nullptr);
+  }
+
+  static void TearDownTestSuite()
+  {
+    rclcpp::shutdown();
+  }
+
+protected:
+  void TearDown() override
+  {
+    node_->shutdown();
+    node_.reset();
+  }
+
+  rclcpp_lifecycle::LifecycleNode::SharedPtr node_ =
+    std::make_shared<rclcpp_lifecycle::LifecycleNode>("test_lifecycle_generic_publisher");
+};
+
+TEST_F(TestLifecycleGenericPublisher, creation_and_destruction)
+{
+  constexpr char topic_name[] = "test_lifecycle_generic_pub_topic";
+  constexpr char topic_type[] = "test_msgs/msg/Strings";
+  const auto qos = rclcpp::QoS(10);
+
+  auto publisher = node_->create_generic_publisher(topic_name, topic_type, qos);
+  ASSERT_NE(nullptr, publisher);
+  EXPECT_STREQ("/test_lifecycle_generic_pub_topic", publisher->get_topic_name());
+}
+
+TEST_F(TestLifecycleGenericPublisher, invalid_topic_name)
+{
+  constexpr char invalid_topic[] = "invalid_topic?";
+  constexpr char topic_type[] = "test_msgs/msg/Strings";
+  const auto qos = rclcpp::QoS(10);
+
+  EXPECT_THROW(
+    node_->create_generic_publisher(invalid_topic, topic_type, qos),
+    rclcpp::exceptions::InvalidTopicNameError);
+}
+
+TEST_F(TestLifecycleGenericPublisher, invalid_topic_type)
+{
+  constexpr char topic_name[] = "valid_topic_name";
+  constexpr char invalid_type[] = "invalid_package/msg/InvalidType";
+  const auto qos = rclcpp::QoS(10);
+
+  EXPECT_THROW(
+    node_->create_generic_publisher(topic_name, invalid_type, qos),
+    std::runtime_error);
+}
+
+TEST_F(TestLifecycleGenericPublisher, custom_publisher_options)
+{
+  constexpr char topic_name[] = "test_options_topic";
+  constexpr char topic_type[] = "test_msgs/msg/Strings";
+  const auto qos = rclcpp::QoS(10);
+
+  rclcpp::PublisherOptions options;
+  auto group = node_->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
+  options.callback_group = group;
+
+  auto publisher = node_->create_generic_publisher(topic_name, topic_type, qos, options);
+  ASSERT_NE(nullptr, publisher);
+  EXPECT_STREQ("/test_options_topic", publisher->get_topic_name());
+}
+
+TEST_F(TestLifecycleGenericPublisher, publish_serialized_message)
+{
+  constexpr char topic_name[] = "test_lifecycle_pub_message_topic";
+  constexpr char topic_type[] = "test_msgs/msg/Strings";
+  const auto qos = rclcpp::QoS(10);
+
+  auto publisher = node_->create_generic_publisher(topic_name, topic_type, qos);
+  ASSERT_NE(nullptr, publisher);
+
+  rclcpp::SerializedMessage serialized_msg;
+  EXPECT_NO_THROW(publisher->publish(serialized_msg));
+}