diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index 89eb06f240..d98e3c5ae8 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -241,6 +241,10 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
 		handle_message_obstacle_distance(msg);
 		break;
 
+	case MAVLINK_MSG_ID_TRAJECTORY_REPRESENTATION_BEZIER:
+		handle_message_trajectory_representation_bezier(msg);
+		break;
+
 	case MAVLINK_MSG_ID_TRAJECTORY_REPRESENTATION_WAYPOINTS:
 		handle_message_trajectory_representation_waypoints(msg);
 		break;
@@ -1776,6 +1780,29 @@ MavlinkReceiver::handle_message_obstacle_distance(mavlink_message_t *msg)
 	_obstacle_distance_pub.publish(obstacle_distance);
 }
 
+void
+MavlinkReceiver::handle_message_trajectory_representation_bezier(mavlink_message_t *msg)
+{
+	mavlink_trajectory_representation_bezier_t trajectory;
+	mavlink_msg_trajectory_representation_bezier_decode(msg, &trajectory);
+
+	vehicle_trajectory_bezier_s trajectory_bezier{};
+
+	trajectory_bezier.timestamp =  _mavlink_timesync.sync_stamp(trajectory.time_usec);
+
+	for (int i = 0; i < vehicle_trajectory_bezier_s::NUMBER_POINTS; ++i) {
+		trajectory_bezier.control_points[i].position[0] = trajectory.pos_x[i];
+		trajectory_bezier.control_points[i].position[1] = trajectory.pos_y[i];
+		trajectory_bezier.control_points[i].position[2] = trajectory.pos_z[i];
+
+		trajectory_bezier.control_points[i].delta = trajectory.delta[i];
+		trajectory_bezier.control_points[i].yaw = trajectory.pos_yaw[i];
+	}
+
+	trajectory_bezier.bezier_order = math::min(trajectory.valid_points, vehicle_trajectory_bezier_s::NUMBER_POINTS);
+	_trajectory_bezier_pub.publish(trajectory_bezier);
+}
+
 void
 MavlinkReceiver::handle_message_trajectory_representation_waypoints(mavlink_message_t *msg)
 {
diff --git a/src/modules/mavlink/mavlink_receiver.h b/src/modules/mavlink/mavlink_receiver.h
index 3e0dab395a..7c55679e9c 100644
--- a/src/modules/mavlink/mavlink_receiver.h
+++ b/src/modules/mavlink/mavlink_receiver.h
@@ -98,6 +98,7 @@
 #include <uORB/topics/vehicle_odometry.h>
 #include <uORB/topics/vehicle_rates_setpoint.h>
 #include <uORB/topics/vehicle_status.h>
+#include <uORB/topics/vehicle_trajectory_bezier.h>
 #include <uORB/topics/vehicle_trajectory_waypoint.h>
 
 class Mavlink;
@@ -166,6 +167,7 @@ private:
 	void handle_message_set_position_target_local_ned(mavlink_message_t *msg);
 	void handle_message_set_position_target_global_int(mavlink_message_t *msg);
 	void handle_message_statustext(mavlink_message_t *msg);
+	void handle_message_trajectory_representation_bezier(mavlink_message_t *msg);
 	void handle_message_trajectory_representation_waypoints(mavlink_message_t *msg);
 	void handle_message_utm_global_position(mavlink_message_t *msg);
 	void handle_message_vision_position_estimate(mavlink_message_t *msg);
@@ -248,6 +250,7 @@ private:
 	uORB::Publication<vehicle_odometry_s>			_mocap_odometry_pub{ORB_ID(vehicle_mocap_odometry)};
 	uORB::Publication<vehicle_odometry_s>			_visual_odometry_pub{ORB_ID(vehicle_visual_odometry)};
 	uORB::Publication<vehicle_rates_setpoint_s>		_rates_sp_pub{ORB_ID(vehicle_rates_setpoint)};
+	uORB::Publication<vehicle_trajectory_bezier_s>	_trajectory_bezier_pub{ORB_ID(vehicle_trajectory_bezier)};
 	uORB::Publication<vehicle_trajectory_waypoint_s>	_trajectory_waypoint_pub{ORB_ID(vehicle_trajectory_waypoint)};
 
 	// ORB publications (multi)