diff --git a/net/can/can.h b/net/can/can.h
index ea67fe1c948..b2b51b778de 100644
--- a/net/can/can.h
+++ b/net/can/can.h
@@ -117,6 +117,10 @@ struct can_conn_s
   int32_t tx_deadline;
 # endif
 #endif
+
+#ifdef CONFIG_NET_TIMESTAMP
+  FAR struct socket *psock; /* Needed to get SO_TIMESTAMP value */
+#endif
 };
 
 /****************************************************************************
diff --git a/net/can/can_sockif.c b/net/can/can_sockif.c
index 780641f9727..60b38bba11e 100644
--- a/net/can/can_sockif.c
+++ b/net/can/can_sockif.c
@@ -221,6 +221,12 @@ static int can_setup(FAR struct socket *psock, int protocol)
           return -ENOMEM;
         }
 
+#ifdef CONFIG_NET_TIMESTAMP
+      /* Store psock in conn se we can read the SO_TIMESTAMP value */
+
+      conn->psock = psock;
+#endif
+
       /* Initialize the connection instance */
 
       conn->protocol = (uint8_t)protocol;