diff --git a/perception/autoware_euclidean_cluster/README.md b/perception/autoware_euclidean_cluster/README.md
index 349d4211ee8e9..3a320756fc1b6 100644
--- a/perception/autoware_euclidean_cluster/README.md
+++ b/perception/autoware_euclidean_cluster/README.md
@@ -39,23 +39,11 @@ This package has two clustering methods: `euclidean_cluster` and `voxel_grid_bas
 
 #### euclidean_cluster
 
-| Name               | Type  | Description                                                                                  |
-| ------------------ | ----- | -------------------------------------------------------------------------------------------- |
-| `use_height`       | bool  | use point.z for clustering                                                                   |
-| `min_cluster_size` | int   | the minimum number of points that a cluster needs to contain in order to be considered valid |
-| `max_cluster_size` | int   | the maximum number of points that a cluster needs to contain in order to be considered valid |
-| `tolerance`        | float | the spatial cluster tolerance as a measure in the L2 Euclidean space                         |
+{{ json_to_markdown("perception/autoware_euclidean_cluster/schema/euclidean_cluster.schema.json") }}
 
 #### voxel_grid_based_euclidean_cluster
 
-| Name                          | Type  | Description                                                                                  |
-| ----------------------------- | ----- | -------------------------------------------------------------------------------------------- |
-| `use_height`                  | bool  | use point.z for clustering                                                                   |
-| `min_cluster_size`            | int   | the minimum number of points that a cluster needs to contain in order to be considered valid |
-| `max_cluster_size`            | int   | the maximum number of points that a cluster needs to contain in order to be considered valid |
-| `tolerance`                   | float | the spatial cluster tolerance as a measure in the L2 Euclidean space                         |
-| `voxel_leaf_size`             | float | the voxel leaf size of x and y                                                               |
-| `min_points_number_per_voxel` | int   | the minimum number of points for a voxel                                                     |
+{{ json_to_markdown("perception/autoware_euclidean_cluster/schema/voxel_grid_based_euclidean_cluster.schema.json") }}
 
 ## Assumptions / Known limits
 
diff --git a/perception/autoware_euclidean_cluster/schema/euclidean_cluster.schema.json b/perception/autoware_euclidean_cluster/schema/euclidean_cluster.schema.json
new file mode 100644
index 0000000000000..d715ecb1d793f
--- /dev/null
+++ b/perception/autoware_euclidean_cluster/schema/euclidean_cluster.schema.json
@@ -0,0 +1,48 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "autoware_eucidean Parameters",
+  "type": "object",
+  "definitions": {
+    "euclidean_cluster": {
+      "type": "object",
+      "properties": {
+        "max_cluster_size": {
+          "type": "integer",
+          "description": "The maximum number of points that a cluster needs to contain in order to be considered valid.",
+          "default": 1000
+        },
+        "min_cluster_size": {
+          "type": "integer",
+          "description": "The minimum number of points that a cluster needs to contain in order to be considered valid.",
+          "default": 10
+        },
+        "tolerance": {
+          "type": "number",
+          "description": "The spatial cluster tolerance as a measure in the L2 Euclidean space.",
+          "default": 0.7
+        },
+        "use_height": {
+          "type": "boolean",
+          "description": "Whether to use point.z for clustering.",
+          "default": false
+        }
+      },
+      "required": ["max_cluster_size", "min_cluster_size", "tolerance", "use_height"],
+      "additionalProperties": false
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/euclidean_cluster"
+        }
+      },
+      "required": ["ros__parameters"],
+      "additionalProperties": false
+    }
+  },
+  "required": ["/**"],
+  "additionalProperties": false
+}
diff --git a/perception/autoware_euclidean_cluster/schema/voxel_grid_based_euclidean_cluster.schema.json b/perception/autoware_euclidean_cluster/schema/voxel_grid_based_euclidean_cluster.schema.json
new file mode 100644
index 0000000000000..add3d800b2bbb
--- /dev/null
+++ b/perception/autoware_euclidean_cluster/schema/voxel_grid_based_euclidean_cluster.schema.json
@@ -0,0 +1,113 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "autoware_euclidean_cluster Parameters",
+  "type": "object",
+  "definitions": {
+    "voxel_grid_based_euclidean_cluster": {
+      "type": "object",
+      "properties": {
+        "tolerance": {
+          "type": "number",
+          "description": "The spatial cluster tolerance as a measure in the L2 Euclidean space.",
+          "default": 0.7
+        },
+        "voxel_leaf_size": {
+          "type": "number",
+          "description": "The voxel leaf size of x and y.",
+          "default": 0.3
+        },
+        "min_points_number_per_voxel": {
+          "type": "integer",
+          "description": "The minimum number of points required per voxel.",
+          "default": 1
+        },
+        "min_cluster_size": {
+          "type": "integer",
+          "description": "The minimum number of points that a cluster needs to contain in order to be considered valid.",
+          "default": 10
+        },
+        "max_cluster_size": {
+          "type": "integer",
+          "description": "The maximum number of points that a cluster needs to contain in order to be considered valid.",
+          "default": 3000
+        },
+        "use_height": {
+          "type": "boolean",
+          "description": "Use point.z for clustering.",
+          "default": false
+        },
+        "input_frame": {
+          "type": "string",
+          "description": "The reference frame for input data processing.",
+          "default": "base_link"
+        },
+        "max_x": {
+          "type": "number",
+          "description": "Maximum X coordinate for the low height crop box filter.",
+          "default": 200.0
+        },
+        "min_x": {
+          "type": "number",
+          "description": "Minimum X coordinate for the low height crop box filter.",
+          "default": -200.0
+        },
+        "max_y": {
+          "type": "number",
+          "description": "Maximum Y coordinate for the low height crop box filter.",
+          "default": 200.0
+        },
+        "min_y": {
+          "type": "number",
+          "description": "Minimum Y coordinate for the low height crop box filter.",
+          "default": -200.0
+        },
+        "max_z": {
+          "type": "number",
+          "description": "Maximum Z coordinate for the low height crop box filter.",
+          "default": 2.0
+        },
+        "min_z": {
+          "type": "number",
+          "description": "Minimum Z coordinate for the low height crop box filter.",
+          "default": -10.0
+        },
+        "negative": {
+          "type": "boolean",
+          "description": "Whether to invert the crop box filtering effect.",
+          "default": false
+        }
+      },
+      "required": [
+        "tolerance",
+        "voxel_leaf_size",
+        "min_points_number_per_voxel",
+        "min_cluster_size",
+        "max_cluster_size",
+        "use_height",
+        "input_frame",
+        "max_x",
+        "min_x",
+        "max_y",
+        "min_y",
+        "max_z",
+        "min_z",
+        "negative"
+      ],
+      "additionalProperties": false
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/voxel_grid_based_euclidean_cluster"
+        }
+      },
+      "required": ["ros__parameters"],
+      "additionalProperties": false
+    }
+  },
+  "required": ["/**"],
+  "additionalProperties": false
+}
diff --git a/perception/autoware_euclidean_cluster/src/euclidean_cluster_node.cpp b/perception/autoware_euclidean_cluster/src/euclidean_cluster_node.cpp
index cccb05160942c..aeac236548397 100644
--- a/perception/autoware_euclidean_cluster/src/euclidean_cluster_node.cpp
+++ b/perception/autoware_euclidean_cluster/src/euclidean_cluster_node.cpp
@@ -24,10 +24,10 @@ namespace autoware::euclidean_cluster
 EuclideanClusterNode::EuclideanClusterNode(const rclcpp::NodeOptions & options)
 : Node("euclidean_cluster_node", options)
 {
-  const bool use_height = this->declare_parameter("use_height", false);
-  const int min_cluster_size = this->declare_parameter("min_cluster_size", 3);
-  const int max_cluster_size = this->declare_parameter("max_cluster_size", 200);
-  const float tolerance = this->declare_parameter("tolerance", 1.0);
+  const bool use_height = this->declare_parameter("use_height");
+  const int min_cluster_size = this->declare_parameter("min_cluster_size");
+  const int max_cluster_size = this->declare_parameter("max_cluster_size");
+  const float tolerance = this->declare_parameter("tolerance");
   cluster_ =
     std::make_shared<EuclideanCluster>(use_height, min_cluster_size, max_cluster_size, tolerance);
 
diff --git a/perception/autoware_euclidean_cluster/src/voxel_grid_based_euclidean_cluster_node.cpp b/perception/autoware_euclidean_cluster/src/voxel_grid_based_euclidean_cluster_node.cpp
index 019001c54ba49..d22b6f28beb01 100644
--- a/perception/autoware_euclidean_cluster/src/voxel_grid_based_euclidean_cluster_node.cpp
+++ b/perception/autoware_euclidean_cluster/src/voxel_grid_based_euclidean_cluster_node.cpp
@@ -25,12 +25,12 @@ VoxelGridBasedEuclideanClusterNode::VoxelGridBasedEuclideanClusterNode(
   const rclcpp::NodeOptions & options)
 : Node("voxel_grid_based_euclidean_cluster_node", options)
 {
-  const bool use_height = this->declare_parameter("use_height", false);
-  const int min_cluster_size = this->declare_parameter("min_cluster_size", 1);
-  const int max_cluster_size = this->declare_parameter("max_cluster_size", 500);
-  const float tolerance = this->declare_parameter("tolerance", 1.0);
-  const float voxel_leaf_size = this->declare_parameter("voxel_leaf_size", 0.5);
-  const int min_points_number_per_voxel = this->declare_parameter("min_points_number_per_voxel", 3);
+  const bool use_height = this->declare_parameter("use_height");
+  const int min_cluster_size = this->declare_parameter("min_cluster_size");
+  const int max_cluster_size = this->declare_parameter("max_cluster_size");
+  const float tolerance = this->declare_parameter("tolerance");
+  const float voxel_leaf_size = this->declare_parameter("voxel_leaf_size");
+  const int min_points_number_per_voxel = this->declare_parameter("min_points_number_per_voxel");
   cluster_ = std::make_shared<VoxelGridBasedEuclideanCluster>(
     use_height, min_cluster_size, max_cluster_size, tolerance, voxel_leaf_size,
     min_points_number_per_voxel);