diff --git a/planning/behavior_velocity_planner/src/node.cpp b/planning/behavior_velocity_planner/src/node.cpp
index 325c7e860a25e..ae8fca491cdc5 100644
--- a/planning/behavior_velocity_planner/src/node.cpp
+++ b/planning/behavior_velocity_planner/src/node.cpp
@@ -131,7 +131,7 @@ BehaviorVelocityPlannerNode::BehaviorVelocityPlannerNode(const rclcpp::NodeOptio
       "~/input/external_intersection_states", 10,
       std::bind(&BehaviorVelocityPlannerNode::onExternalIntersectionStates, this, _1));
   sub_external_velocity_limit_ = this->create_subscription<VelocityLimit>(
-    "~/input/external_velocity_limit_mps", 1,
+    "~/input/external_velocity_limit_mps", rclcpp::QoS{1}.transient_local(),
     std::bind(&BehaviorVelocityPlannerNode::onExternalVelocityLimit, this, _1));
   sub_external_traffic_signals_ =
     this->create_subscription<autoware_auto_perception_msgs::msg::TrafficSignalArray>(