diff --git a/src/cpp/fastdds/subscriber/DataReaderImpl.cpp b/src/cpp/fastdds/subscriber/DataReaderImpl.cpp
index c260f8b5cc9..dd2c02f5736 100644
--- a/src/cpp/fastdds/subscriber/DataReaderImpl.cpp
+++ b/src/cpp/fastdds/subscriber/DataReaderImpl.cpp
@@ -285,6 +285,8 @@ void DataReaderImpl::disable()
 
 DataReaderImpl::~DataReaderImpl()
 {
+    // Disable the datareader to prevent receiving data in the middle of deleting it
+    disable();
     delete lifespan_timer_;
     delete deadline_timer_;
 
diff --git a/src/cpp/fastdds/subscriber/SubscriberImpl.cpp b/src/cpp/fastdds/subscriber/SubscriberImpl.cpp
index 5a1063342eb..fdc41441008 100644
--- a/src/cpp/fastdds/subscriber/SubscriberImpl.cpp
+++ b/src/cpp/fastdds/subscriber/SubscriberImpl.cpp
@@ -314,7 +314,6 @@ ReturnCode_t SubscriberImpl::delete_datareader(
                 return ReturnCode_t::RETCODE_PRECONDITION_NOT_MET;
             }
 
-            reader_impl->set_listener(nullptr);
             it->second.erase(dr_it);
             if (it->second.empty())
             {
diff --git a/src/cpp/rtps/reader/RTPSReader.cpp b/src/cpp/rtps/reader/RTPSReader.cpp
index a2dfb0e2189..11860585636 100644
--- a/src/cpp/rtps/reader/RTPSReader.cpp
+++ b/src/cpp/rtps/reader/RTPSReader.cpp
@@ -208,6 +208,7 @@ ReaderListener* RTPSReader::getListener() const
 bool RTPSReader::setListener(
         ReaderListener* target)
 {
+    std::lock_guard<RecursiveTimedMutex> guard(mp_mutex);
     mp_listener = target;
     return true;
 }