diff --git a/include/netutils/ptpd.h b/include/netutils/ptpd.h
index ae397d57c..f418e6892 100644
--- a/include/netutils/ptpd.h
+++ b/include/netutils/ptpd.h
@@ -53,6 +53,7 @@ struct ptpd_config_s
   enum ptp_delay_mechanism_e delay_mechanism;
   bool bmca;
   sa_family_t af;
+  int32_t ingress_latency_ns; /* Hardware RX timestamp latency (ns) */
 };
 
 /* PTPD status information structure */
diff --git a/netutils/ptpd/Kconfig b/netutils/ptpd/Kconfig
index 0bd2389fd..fc26e821b 100644
--- a/netutils/ptpd/Kconfig
+++ b/netutils/ptpd/Kconfig
@@ -219,4 +219,24 @@ config NETUTILS_PTPD_STATUSFILE
 		memory, making it work across all build modes (Flat,
 		Protected, Kernel). Written atomically via temp + rename.
 
+config NETUTILS_PTPD_INGRESS_LATENCY_NS
+	int "PTP hardware receive timestamp latency (ns)"
+	default 0
+	range -1000000 1000000
+	---help---
+		Fixed delay, in nanoseconds, between a frame reaching the wire
+		reference plane and the moment the MAC latches its hardware
+		receive timestamp. This is the ingressLatency port parameter of
+		IEEE 1588: the PHY and the MAC clock-domain crossing make the
+		timestamp point lag the true arrival of the frame.
+
+		The latency is subtracted from every hardware receive timestamp,
+		so a positive value moves the timestamps earlier. It has no
+		effect with software timestamping. It can be overridden at
+		run time with the -I option.
+
+		The value depends on the PHY and board and has to be measured,
+		for example by comparing a physical PPS output against a
+		reference. The default of 0 applies no compensation.
+
 endif # NETUTILS_PTPD
diff --git a/netutils/ptpd/ptpd.c b/netutils/ptpd/ptpd.c
index e8d08c5d3..ae56660b6 100644
--- a/netutils/ptpd/ptpd.c
+++ b/netutils/ptpd/ptpd.c
@@ -314,6 +314,22 @@ static int64_t timespec_to_ms(FAR const struct timespec *ts)
   return ts->tv_sec * MSEC_PER_SEC + (ts->tv_nsec / NSEC_PER_MSEC);
 }
 
+/* Add a positive or negative number of nanoseconds to a timespec value. */
+
+static void timespec_add_ns(FAR struct timespec *ts, int64_t ns)
+{
+  int64_t total = ts->tv_sec * NSEC_PER_SEC + ts->tv_nsec + ns;
+
+  ts->tv_sec  = total / NSEC_PER_SEC;
+  ts->tv_nsec = total % NSEC_PER_SEC;
+
+  if (ts->tv_nsec < 0)
+    {
+      ts->tv_sec--;
+      ts->tv_nsec += NSEC_PER_SEC;
+    }
+}
+
 /* Get positive or negative delta between two timespec values.
  * If value would exceed int64 limit (292 years), return INT64_MAX/MIN.
  */
@@ -500,6 +516,11 @@ static int ptp_getrxtime(FAR struct ptp_state_s *state,
 
           if (ts->tv_sec > 0 || ts->tv_nsec > 0)
             {
+              /* The MAC latches the timestamp later than the frame
+               * reaches the wire: compensate the ingress latency.
+               */
+
+              timespec_add_ns(ts, -state->config->ingress_latency_ns);
               return OK;
             }
         }
diff --git a/system/ptpd/ptpd_main.c b/system/ptpd/ptpd_main.c
index 516b75b5f..370f915e1 100644
--- a/system/ptpd/ptpd_main.c
+++ b/system/ptpd/ptpd_main.c
@@ -164,6 +164,7 @@ static void usage(FAR const char *progname)
                   " -P       P2P, support peer delay request-response\n"
                   " -i [dev] interface device to use, for example 'eth0'\n"
                   " -p [dev] clock device to use\n"
+                  " -I [ns]  hardware RX timestamp latency to compensate\n"
                   " -t [pid] look the status of ptp daemon\n"
                   " -d [pid] stop ptp daemon\n",
                   progname);
@@ -195,8 +196,9 @@ int main(int argc, FAR char *argv[])
 #endif
   config.bmca = false;
   config.af = AF_INET;
+  config.ingress_latency_ns = CONFIG_NETUTILS_PTPD_INGRESS_LATENCY_NS;
 
-  while ((option = getopt(argc, argv, "p:i:t:d:rs246BEHSP")) != ERROR)
+  while ((option = getopt(argc, argv, "p:i:t:d:I:rs246BEHSP")) != ERROR)
     {
       switch (option)
         {
@@ -251,6 +253,9 @@ int main(int argc, FAR char *argv[])
           case 'p':
             config.clock = optarg;
             break;
+          case 'I':
+            config.ingress_latency_ns = atoi(optarg);
+            break;
           case 'r':
             config.clock = "realtime";
             break;