diff --git a/action_msgs/msg/GoalStatus.msg b/action_msgs/msg/GoalStatus.msg
index 6e84a911..df6a95f8 100644
--- a/action_msgs/msg/GoalStatus.msg
+++ b/action_msgs/msg/GoalStatus.msg
@@ -25,6 +25,9 @@ int8 STATUS_CANCELED  = 5
 # The goal was terminated by the action server without an external request.
 int8 STATUS_ABORTED   = 6
 
+# The goal was preempted by the client.
+int8 STATUS_PREEMPTED = 7
+
 # Goal info (contains ID and timestamp).
 GoalInfo goal_info