diff --git a/src/modules/sensors/vehicle_gps_position/gps_blending.cpp b/src/modules/sensors/vehicle_gps_position/gps_blending.cpp
index 3673ca14bb6c..6582c37a240a 100644
--- a/src/modules/sensors/vehicle_gps_position/gps_blending.cpp
+++ b/src/modules/sensors/vehicle_gps_position/gps_blending.cpp
@@ -493,6 +493,21 @@ sensor_gps_s GpsBlending::gps_blend_states(float blend_weights[GPS_MAX_RECEIVERS
 		gps_blended_state.heading_accuracy = _gps_state[gps_best_yaw_index].heading_accuracy;
 	}
 
+	// Blend UTC timestamp from all receivers that are publishing a valid time_utc_usec value
+	double utc_weight_sum = 0.0;
+	double utc_time_sum = 0.0;
+
+	for (uint8_t i = 0; i < GPS_MAX_RECEIVERS_BLEND; i++) {
+		if (_gps_state[i].time_utc_usec > 0) {
+			utc_time_sum += (double)_gps_state[i].time_utc_usec * (double)blend_weights[i];
+			utc_weight_sum += (double)blend_weights[i];
+		}
+	}
+
+	if (utc_weight_sum > 0.0) {
+		gps_blended_state.time_utc_usec = (uint64_t)(utc_time_sum / utc_weight_sum);
+	}
+
 	return gps_blended_state;
 }
 
diff --git a/src/modules/sensors/vehicle_gps_position/gps_blending_test.cpp b/src/modules/sensors/vehicle_gps_position/gps_blending_test.cpp
index af5b1feab706..3c2fe326f08c 100644
--- a/src/modules/sensors/vehicle_gps_position/gps_blending_test.cpp
+++ b/src/modules/sensors/vehicle_gps_position/gps_blending_test.cpp
@@ -275,3 +275,31 @@ TEST_F(GpsBlendingTest, dualReceiverFailover)
 	EXPECT_EQ(gps_blending.getSelectedGps(), 0);
 	EXPECT_TRUE(gps_blending.isNewOutputDataAvailable());
 }
+
+TEST_F(GpsBlendingTest, dualReceiverUTCTime)
+{
+	GpsBlending gps_blending;
+	sensor_gps_s gps_data0 = getDefaultGpsData();
+	sensor_gps_s gps_data1 = getDefaultGpsData();
+
+	// WHEN: Only GPS1 has a nonzero UTC time
+	gps_blending = GpsBlending();
+	gps_data1.time_utc_usec = 1700000000000000ULL;
+	gps_blending.setGpsData(gps_data0, 0);
+	gps_blending.setGpsData(gps_data1, 1);
+	gps_blending.setBlendingUseHPosAccuracy(true);
+	gps_blending.update(_time_now_us);
+	// THEN: GPS 1 time should be used
+	EXPECT_EQ(gps_blending.getOutputGpsData().time_utc_usec, gps_data1.time_utc_usec);
+
+	// WHEN: Both GPSes have a nonzero UTC time
+	gps_blending = GpsBlending();
+	gps_data0.time_utc_usec = 1700000000001000ULL;
+	gps_data1.time_utc_usec = 1700000000000000ULL;
+	gps_blending.setGpsData(gps_data0, 0);
+	gps_blending.setGpsData(gps_data1, 1);
+	gps_blending.setBlendingUseHPosAccuracy(true);
+	gps_blending.update(_time_now_us);
+	// THEN: The average of the two timestamps should be used
+	EXPECT_EQ(gps_blending.getOutputGpsData().time_utc_usec, 1700000000000500ULL);
+}