diff --git a/trinity/buffer/storage/queue.py b/trinity/buffer/storage/queue.py
index 2d924d362e..f348590e48 100644
--- a/trinity/buffer/storage/queue.py
+++ b/trinity/buffer/storage/queue.py
@@ -302,6 +302,8 @@ def __init__(self, config: StorageConfig) -> None:
         self.logger = get_logger(f"queue_{config.name}", in_ray_actor=True)
         self.config = config
         self.capacity = config.capacity
+        self.staleness_limit = config.staleness_limit  # Optional[int]
+        self.max_model_version = 0  # max model version that queue has seen so far
         self.queue = QueueBuffer.get_queue(config)
         st_config = deepcopy(config)
         st_config.wrap_in_ray = False
@@ -351,6 +353,9 @@ async def put_batch(self, exp_list: List) -> None:
         await self.queue.put(exp_list)
         if self.writer is not None:
             self.writer.write(exp_list)
+        for exp in exp_list:
+            if exp.info["model_version"] > self.max_model_version:
+                self.max_model_version = exp.info["model_version"]
 
     async def get_batch(self, batch_size: int, timeout: float) -> List:
         """Get batch of experience."""
@@ -361,6 +366,13 @@ async def get_batch(self, batch_size: int, timeout: float) -> List:
                 raise StopAsyncIteration("Queue is closed and no more items to get.")
             try:
                 exp_list = await asyncio.wait_for(self.queue.get(), timeout=1.0)
+                if (self.staleness_limit is not None) and (self.staleness_limit > 0):
+                    exp_list = [
+                        exp
+                        for exp in exp_list
+                        if exp.info["model_version"]
+                        >= self.max_model_version - self.staleness_limit
+                    ]
                 self.exp_pool.extend(exp_list)
             except asyncio.TimeoutError:
                 if time.time() - start_time > timeout:
diff --git a/trinity/common/config.py b/trinity/common/config.py
index c722959b96..83904336d0 100644
--- a/trinity/common/config.py
+++ b/trinity/common/config.py
@@ -159,6 +159,7 @@ class StorageConfig:
 
     # used for StorageType.QUEUE
     capacity: int = 10000
+    staleness_limit: Optional[int] = None
     max_read_timeout: float = 1800
     replay_buffer: Optional[ReplayBufferConfig] = field(default_factory=ReplayBufferConfig)