diff --git a/include/gz/sensors/SensorTypes.hh b/include/gz/sensors/SensorTypes.hh
index 5e096c34..fbdf6089 100644
--- a/include/gz/sensors/SensorTypes.hh
+++ b/include/gz/sensors/SensorTypes.hh
@@ -209,6 +209,18 @@ namespace gz
       /// \sa AirSpeedSensor
       AIR_SPEED_NOISE_PASCALS = 25,
 
+      /// \brief Orientation body-frame X axis (Roll) noise in rad
+      /// \sa ImuSensor
+      ORIENTATION_X_NOISE_RAD = 26,
+
+      /// \brief Orientation body-frame Y axis (Pitch) noise in rad
+      /// \sa ImuSensor
+      ORIENTATION_Y_NOISE_RAD = 27,
+
+      /// \brief Orientation body-frame Z axis (Yaw) noise in rad
+      /// \sa ImuSensor
+      ORIENTATION_Z_NOISE_RAD = 28,
+
       /// \internal
       /// \brief Indicator used to create an iterator over the enum. Do not
       /// use this.
diff --git a/src/ImuSensor.cc b/src/ImuSensor.cc
index b38af199..a2c706fc 100644
--- a/src/ImuSensor.cc
+++ b/src/ImuSensor.cc
@@ -157,6 +157,9 @@ bool ImuSensor::Load(const sdf::Sensor &_sdf)
     {GYROSCOPE_X_NOISE_RAD_S, _sdf.ImuSensor()->AngularVelocityXNoise()},
     {GYROSCOPE_Y_NOISE_RAD_S, _sdf.ImuSensor()->AngularVelocityYNoise()},
     {GYROSCOPE_Z_NOISE_RAD_S, _sdf.ImuSensor()->AngularVelocityZNoise()},
+    {ORIENTATION_X_NOISE_RAD, _sdf.ImuSensor()->OrientationXNoise()},
+    {ORIENTATION_Y_NOISE_RAD, _sdf.ImuSensor()->OrientationYNoise()},
+    {ORIENTATION_Z_NOISE_RAD, _sdf.ImuSensor()->OrientationZNoise()},
   };
 
   for (const auto & [noiseType, noiseSdf] : noises)
@@ -288,9 +291,12 @@ bool ImuSensor::Update(const std::chrono::steady_clock::duration &_now)
         4, getCov(GYROSCOPE_Y_NOISE_RAD_S));
     msg.mutable_angular_velocity_covariance()->set_data(
         8, getCov(GYROSCOPE_Z_NOISE_RAD_S));
-    msg.mutable_orientation_covariance()->set_data(0, 0.0);
-    msg.mutable_orientation_covariance()->set_data(4, 0.0);
-    msg.mutable_orientation_covariance()->set_data(8, 0.0);
+    msg.mutable_orientation_covariance()->set_data(
+      0, getCov(ORIENTATION_X_NOISE_RAD));
+    msg.mutable_orientation_covariance()->set_data(
+      4, getCov(ORIENTATION_Y_NOISE_RAD));
+    msg.mutable_orientation_covariance()->set_data(
+      8, getCov(ORIENTATION_Z_NOISE_RAD));
   }
 
   if (this->dataPtr->orientationEnabled)
@@ -301,7 +307,15 @@ bool ImuSensor::Update(const std::chrono::steady_clock::duration &_now)
         this->dataPtr->orientationReference.Inverse() *
         this->dataPtr->worldPose.Rot();
 
+    // Adding noise to orientation
+    math::Vector3d euler = this->dataPtr->orientation.Euler();
+    applyNoise(ORIENTATION_X_NOISE_RAD, euler.X());
+    applyNoise(ORIENTATION_Y_NOISE_RAD, euler.Y());
+    applyNoise(ORIENTATION_Z_NOISE_RAD, euler.Z());
+    this->dataPtr->orientation.SetFromEuler(euler);
+
     msgs::Set(msg.mutable_orientation(), this->dataPtr->orientation);
+
   }
   msgs::Set(msg.mutable_angular_velocity(), this->dataPtr->angularVel);
   msgs::Set(msg.mutable_linear_acceleration(), this->dataPtr->linearAcc);