diff --git a/rclc_parameter/src/rclc_parameter/parameter_server.c b/rclc_parameter/src/rclc_parameter/parameter_server.c
index 1de0697f..b4dea701 100644
--- a/rclc_parameter/src/rclc_parameter/parameter_server.c
+++ b/rclc_parameter/src/rclc_parameter/parameter_server.c
@@ -453,6 +453,61 @@ rclc_parameter_server_fini(
     ret &= rcl_publisher_fini(&parameter_server->event_publisher, node);
   }
 
+  rosidl_runtime_c__String__fini(&parameter_server->event_list.node);
+
+  for (size_t i = 0; i < parameter_server->describe_request.names.capacity; i++) {
+    rosidl_runtime_c__String__fini(&parameter_server->describe_request.names.data[i]);
+    rosidl_runtime_c__String__fini(&parameter_server->describe_response.descriptors.data[i].name);
+  }
+
+  rcl_interfaces__msg__ParameterDescriptor__Sequence__fini(
+    &parameter_server->describe_response.descriptors);
+  rosidl_runtime_c__String__Sequence__fini(&parameter_server->describe_request.names);
+  rcl_interfaces__srv__DescribeParameters_Response__fini(&parameter_server->describe_response);
+  rcl_interfaces__srv__DescribeParameters_Request__fini(&parameter_server->describe_request);
+
+  for (size_t i = 0; i < parameter_server->get_types_request.names.capacity; i++) {
+    rosidl_runtime_c__String__fini(&parameter_server->get_types_request.names.data[i]);
+  }
+
+  rosidl_runtime_c__uint8__Sequence__fini(&parameter_server->get_types_response.types);
+  rosidl_runtime_c__String__Sequence__fini(&parameter_server->get_types_request.names);
+  rcl_interfaces__srv__GetParameterTypes_Response__fini(&parameter_server->get_types_response);
+  rcl_interfaces__srv__GetParameterTypes_Request__fini(&parameter_server->get_types_request);
+
+  for (size_t i = 0; i < parameter_server->set_request.parameters.capacity; i++) {
+    rosidl_runtime_c__String__fini(&parameter_server->set_request.parameters.data[i].name);
+    rosidl_runtime_c__String__fini(&parameter_server->set_response.results.data[i].reason);
+  }
+
+  rcl_interfaces__msg__SetParametersResult__Sequence__fini(&parameter_server->set_response.results);
+  rcl_interfaces__msg__Parameter__Sequence__fini(&parameter_server->set_request.parameters);
+  rcl_interfaces__srv__SetParameters_Response__fini(&parameter_server->set_response);
+  rcl_interfaces__srv__SetParameters_Request__fini(&parameter_server->set_request);
+
+  for (size_t i = 0; i < parameter_server->get_request.names.capacity; i++) {
+    rosidl_runtime_c__String__fini(&parameter_server->get_request.names.data[i]);
+  }
+
+  rcl_interfaces__msg__ParameterValue__Sequence__fini(&parameter_server->get_response.values);
+  rosidl_runtime_c__String__Sequence__fini(&parameter_server->get_request.names);
+  rcl_interfaces__srv__GetParameters_Response__fini(&parameter_server->get_response);
+  rcl_interfaces__srv__GetParameters_Request__fini(&parameter_server->get_request);
+
+  for (size_t i = 0; i < parameter_server->list_response.result.names.capacity; i++) {
+    rosidl_runtime_c__String__fini(&parameter_server->list_response.result.names.data[i]);
+  }
+
+  rosidl_runtime_c__String__Sequence__fini(&parameter_server->list_response.result.names);
+  rcl_interfaces__srv__ListParameters_Response__fini(&parameter_server->list_response);
+  rcl_interfaces__srv__ListParameters_Request__fini(&parameter_server->list_request);
+
+  for (size_t i = 0; i < parameter_server->parameter_list.capacity; i++) {
+    rosidl_runtime_c__String__fini(&parameter_server->parameter_list.data[i].name);
+  }
+
+  rcl_interfaces__msg__Parameter__Sequence__fini(&parameter_server->parameter_list);
+
   return ret;
 }
 
diff --git a/rclc_parameter/test/rclc_parameter/test_parameter.cpp b/rclc_parameter/test/rclc_parameter/test_parameter.cpp
index 10277979..68f9e876 100644
--- a/rclc_parameter/test/rclc_parameter/test_parameter.cpp
+++ b/rclc_parameter/test/rclc_parameter/test_parameter.cpp
@@ -253,4 +253,7 @@ TEST(Test, rclc_node_init_default) {
 
   spin = false;
   rclc_parameter_server_thread.join();
+
+  // Destroy parameter server
+  ASSERT_EQ(rclc_parameter_server_fini(&param_server, &node), RCL_RET_OK);
 }