diff --git a/commons/zenoh-buffers/src/lib.rs b/commons/zenoh-buffers/src/lib.rs
index eae7f1715c..117fb412b7 100644
--- a/commons/zenoh-buffers/src/lib.rs
+++ b/commons/zenoh-buffers/src/lib.rs
@@ -199,6 +199,18 @@ pub mod reader {
         fn rewind(&mut self, mark: Self::Mark) -> bool;
     }
 
+    pub trait AdvanceableReader: Reader {
+        fn skip(&mut self, offset: usize) -> Result<(), DidntRead>;
+        fn backtrack(&mut self, offset: usize) -> Result<(), DidntRead>;
+        fn advance(&mut self, offset: isize) -> Result<(), DidntRead> {
+            if offset > 0 {
+                self.skip(offset as usize)
+            } else {
+                self.backtrack((-offset) as usize)
+            }
+        }
+    }
+
     #[derive(Debug, Clone, Copy)]
     pub struct DidntSiphon;
 
diff --git a/commons/zenoh-buffers/src/zbuf.rs b/commons/zenoh-buffers/src/zbuf.rs
index fd86f454af..5c96c156cc 100644
--- a/commons/zenoh-buffers/src/zbuf.rs
+++ b/commons/zenoh-buffers/src/zbuf.rs
@@ -15,12 +15,21 @@
 use crate::ZSliceKind;
 use crate::{
     buffer::{Buffer, SplitBuffer},
-    reader::{BacktrackableReader, DidntRead, DidntSiphon, HasReader, Reader, SiphonableReader},
+    reader::{
+        AdvanceableReader, BacktrackableReader, DidntRead, DidntSiphon, HasReader, Reader,
+        SiphonableReader,
+    },
     writer::{BacktrackableWriter, DidntWrite, HasWriter, Writer},
     ZSlice,
 };
 use alloc::{sync::Arc, vec::Vec};
-use core::{cmp, iter, mem, num::NonZeroUsize, ops::RangeBounds, ptr};
+use core::{
+    cmp::{self, min},
+    isize, iter, mem,
+    num::NonZeroUsize,
+    ops::RangeBounds,
+    ptr,
+};
 use zenoh_collections::SingleOrVec;
 
 fn get_mut_unchecked<T>(arc: &mut Arc<T>) -> &mut T {
@@ -355,6 +364,48 @@ impl<'a> BacktrackableReader for ZBufReader<'a> {
     }
 }
 
+impl<'a> AdvanceableReader for ZBufReader<'a> {
+    fn skip(&mut self, offset: usize) -> Result<(), DidntRead> {
+        let mut remianing_offset = offset;
+        while remianing_offset > 0 {
+            if let Some(s) = self.inner.slices.get(self.cursor.slice) {
+                let remains_in_current_slice = s.len() - self.cursor.byte;
+                let advance = min(remianing_offset, remains_in_current_slice);
+                remianing_offset -= advance;
+                self.cursor.byte += advance;
+                if self.cursor.byte == s.len() {
+                    self.cursor.slice += 1;
+                    self.cursor.byte = 0;
+                }
+            } else {
+                return Err(DidntRead);
+            }
+        }
+        Ok(())
+    }
+
+    fn backtrack(&mut self, offset: usize) -> Result<(), DidntRead> {
+        let mut remianing_offset = offset;
+        while remianing_offset > 0 {
+            let backtrack = min(remianing_offset, self.cursor.byte);
+            remianing_offset -= backtrack;
+            self.cursor.byte -= backtrack;
+            if self.cursor.byte == 0 {
+                if self.cursor.slice == 0 {
+                    break;
+                }
+                self.cursor.slice -= 1;
+                self.cursor.byte = self.inner.slices.get(self.cursor.slice).unwrap().len();
+            }
+        }
+        if remianing_offset == 0 {
+            Ok(())
+        } else {
+            Err(DidntRead)
+        }
+    }
+}
+
 impl<'a> SiphonableReader for ZBufReader<'a> {
     fn siphon<W>(&mut self, writer: &mut W) -> Result<NonZeroUsize, DidntSiphon>
     where
@@ -400,6 +451,28 @@ impl<'a> std::io::Read for ZBufReader<'a> {
     }
 }
 
+#[cfg(feature = "std")]
+impl<'a> std::io::Seek for ZBufReader<'a> {
+    fn seek(&mut self, pos: std::io::SeekFrom) -> std::io::Result<u64> {
+        let mut current_pos = self.cursor.byte as i64;
+        for i in 0..self.cursor.slice {
+            current_pos += self.inner.slices.get(i).unwrap().len() as i64;
+        }
+        let offset = match pos {
+            std::io::SeekFrom::Start(s) => s as i64 - current_pos,
+            std::io::SeekFrom::Current(s) => s,
+            std::io::SeekFrom::End(s) => self.inner.len() as i64 + s - current_pos,
+        };
+        match self.advance(offset as isize) {
+            Ok(()) => Ok((offset + current_pos) as u64),
+            Err(_) => Err(std::io::Error::new(
+                std::io::ErrorKind::InvalidInput,
+                "InvalidInput",
+            )),
+        }
+    }
+}
+
 // ZSlice iterator
 pub struct ZBufSliceIterator<'a, 'b> {
     reader: &'a mut ZBufReader<'b>,
@@ -640,6 +713,7 @@ impl ZBuf {
 }
 
 mod tests {
+
     #[test]
     fn zbuf_eq() {
         use super::{ZBuf, ZSlice};
@@ -668,4 +742,45 @@ mod tests {
 
         assert_eq!(zbuf1, zbuf2);
     }
+
+    #[test]
+    fn zbuf_seek() {
+        use super::{HasReader, ZBuf};
+        use crate::reader::Reader;
+        use std::io::Seek;
+
+        let mut buf = ZBuf::empty();
+        buf.push_zslice([0u8, 1u8, 2u8, 3u8].into());
+        buf.push_zslice([4u8, 5u8, 6u8, 7u8, 8u8].into());
+        buf.push_zslice([9u8, 10u8, 11u8, 12u8, 13u8, 14u8].into());
+        let mut reader = buf.reader();
+        assert!(reader.stream_position().unwrap() == 0);
+        assert!(reader.read_u8().unwrap() == 0);
+        assert!(reader.seek(std::io::SeekFrom::Current(6)).unwrap() == 7);
+        assert!(reader.read_u8().unwrap() == 7);
+        assert!(reader.seek(std::io::SeekFrom::Current(-5)).unwrap() == 3);
+        assert!(reader.read_u8().unwrap() == 3);
+        assert!(reader.seek(std::io::SeekFrom::Current(10)).unwrap() == 14);
+        assert!(reader.read_u8().unwrap() == 14);
+        assert!(reader.seek(std::io::SeekFrom::Current(100)).is_err());
+
+        assert!(reader.seek(std::io::SeekFrom::Start(0)).unwrap() == 0);
+        assert!(reader.read_u8().unwrap() == 0);
+        assert!(reader.seek(std::io::SeekFrom::Start(12)).unwrap() == 12);
+        assert!(reader.read_u8().unwrap() == 12);
+        assert!(reader.seek(std::io::SeekFrom::Start(15)).unwrap() == 15);
+        assert!(reader.read_u8().is_err());
+        assert!(reader.seek(std::io::SeekFrom::Start(100)).is_err());
+
+        assert!(reader.seek(std::io::SeekFrom::End(0)).unwrap() == 15);
+        assert!(reader.read_u8().is_err());
+        assert!(reader.seek(std::io::SeekFrom::End(-5)).unwrap() == 10);
+        assert!(reader.read_u8().unwrap() == 10);
+        assert!(reader.seek(std::io::SeekFrom::End(-15)).unwrap() == 0);
+        assert!(reader.read_u8().unwrap() == 0);
+        assert!(reader.seek(std::io::SeekFrom::End(-20)).is_err());
+
+        assert!(reader.seek(std::io::SeekFrom::Start(10)).is_ok());
+        assert!(reader.seek(std::io::SeekFrom::Current(-100)).is_err());
+    }
 }
diff --git a/zenoh/src/payload.rs b/zenoh/src/payload.rs
index ed2a58145c..57c1126a2d 100644
--- a/zenoh/src/payload.rs
+++ b/zenoh/src/payload.rs
@@ -53,13 +53,13 @@ impl Payload {
         self.0.len()
     }
 
-    /// Get a [`PayloadReader`] implementing [`std::io::Read`] trait.
+    /// Get a [`PayloadReader`] implementing [`std::io::Read`] and [`std::io::Seek`] traits.
     pub fn reader(&self) -> PayloadReader<'_> {
         PayloadReader(self.0.reader())
     }
 }
 
-/// A reader that implements [`std::io::Read`] trait to read from a [`Payload`].
+/// A reader that implements [`std::io::Read`] and [`std::io::Seek`] traits to read from a [`Payload`].
 pub struct PayloadReader<'a>(ZBufReader<'a>);
 
 impl std::io::Read for PayloadReader<'_> {
@@ -68,6 +68,12 @@ impl std::io::Read for PayloadReader<'_> {
     }
 }
 
+impl std::io::Seek for PayloadReader<'_> {
+    fn seek(&mut self, pos: std::io::SeekFrom) -> std::io::Result<u64> {
+        self.0.seek(pos)
+    }
+}
+
 /// Provide some facilities specific to the Rust API to encode/decode a [`Value`] with an `Serialize`.
 impl Payload {
     /// Encode an object of type `T` as a [`Value`] using the [`ZSerde`].