diff --git a/include/netutils/ptpd.h b/include/netutils/ptpd.h
index f418e6892..c86f3d647 100644
--- a/include/netutils/ptpd.h
+++ b/include/netutils/ptpd.h
@@ -54,6 +54,7 @@ struct ptpd_config_s
   bool bmca;
   sa_family_t af;
   int32_t ingress_latency_ns; /* Hardware RX timestamp latency (ns) */
+  int32_t egress_latency_ns;  /* Hardware TX timestamp latency (ns) */
 };
 
 /* PTPD status information structure */
diff --git a/netutils/ptpd/Kconfig b/netutils/ptpd/Kconfig
index 371497609..eb560d7b0 100644
--- a/netutils/ptpd/Kconfig
+++ b/netutils/ptpd/Kconfig
@@ -259,4 +259,25 @@ config NETUTILS_PTPD_INGRESS_LATENCY_NS
 		for example by comparing a physical PPS output against a
 		reference. The default of 0 applies no compensation.
 
+config NETUTILS_PTPD_EGRESS_LATENCY_NS
+	int "PTP hardware transmit timestamp latency (ns)"
+	default 0
+	range -1000000 1000000
+	depends on NET_TIMESTAMP
+	---help---
+		Fixed delay, in nanoseconds, between the MAC latching a hardware
+		transmit timestamp and the frame reaching the wire reference
+		plane. This is the egressLatency port parameter of IEEE 1588: the
+		clock domain crossing and the PHY make the frame leave later than
+		the timestamp point.
+
+		The latency is added to every hardware transmit timestamp, so a
+		positive value moves the timestamps later. It has no effect with
+		software timestamping or when the driver does not provide
+		hardware transmit timestamps. It can be overridden at run time
+		with the -O option.
+
+		The value depends on the PHY and board and has to be measured.
+		The default of 0 applies no compensation.
+
 endif # NETUTILS_PTPD
diff --git a/netutils/ptpd/ptpd.c b/netutils/ptpd/ptpd.c
index dcccd2c1f..f10606bf5 100644
--- a/netutils/ptpd/ptpd.c
+++ b/netutils/ptpd/ptpd.c
@@ -1128,6 +1128,12 @@ static int ptp_sendmsg(FAR struct ptp_state_s *state, FAR const void *buf,
           if (ptp_get_tx_timestamp(state, sendts) == OK)
             {
               state->hwts_tx_failures = 0;
+
+              /* The frame reaches the wire later than the MAC latches the
+               * timestamp: compensate the egress latency.
+               */
+
+              timespec_add_ns(sendts, state->config->egress_latency_ns);
             }
           else
             {
diff --git a/system/ptpd/ptpd_main.c b/system/ptpd/ptpd_main.c
index 370f915e1..3347f6c2d 100644
--- a/system/ptpd/ptpd_main.c
+++ b/system/ptpd/ptpd_main.c
@@ -165,6 +165,7 @@ static void usage(FAR const char *progname)
                   " -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"
+                  " -O [ns]  hardware TX timestamp latency to compensate\n"
                   " -t [pid] look the status of ptp daemon\n"
                   " -d [pid] stop ptp daemon\n",
                   progname);
@@ -197,8 +198,13 @@ int main(int argc, FAR char *argv[])
   config.bmca = false;
   config.af = AF_INET;
   config.ingress_latency_ns = CONFIG_NETUTILS_PTPD_INGRESS_LATENCY_NS;
+#ifdef CONFIG_NET_TIMESTAMP
+  config.egress_latency_ns = CONFIG_NETUTILS_PTPD_EGRESS_LATENCY_NS;
+#else
+  config.egress_latency_ns = 0;
+#endif
 
-  while ((option = getopt(argc, argv, "p:i:t:d:I:rs246BEHSP")) != ERROR)
+  while ((option = getopt(argc, argv, "p:i:t:d:I:O:rs246BEHSP")) != ERROR)
     {
       switch (option)
         {
@@ -256,6 +262,9 @@ int main(int argc, FAR char *argv[])
           case 'I':
             config.ingress_latency_ns = atoi(optarg);
             break;
+          case 'O':
+            config.egress_latency_ns = atoi(optarg);
+            break;
           case 'r':
             config.clock = "realtime";
             break;