diff --git a/src/libYARP_os/src/yarp/os/NetworkClock.cpp b/src/libYARP_os/src/yarp/os/NetworkClock.cpp
index ae5754626b..be09b27de5 100644
--- a/src/libYARP_os/src/yarp/os/NetworkClock.cpp
+++ b/src/libYARP_os/src/yarp/os/NetworkClock.cpp
@@ -103,7 +103,6 @@ bool NetworkClock::Private::read(ConnectionReader& reader)
     }
 
     timeMutex.lock();
-    bool previousTimestampAvailable = initted;
     double oldTime = _time;
     sec = bot.get(0).asInt32();
     nsec = bot.get(1).asInt32();
@@ -111,13 +110,14 @@ bool NetworkClock::Private::read(ConnectionReader& reader)
     initted = true;
     timeMutex.unlock();
 
-    // If the clock time has been reset (i.e. it jumped back in time)
-    // release all the threads currently waiting
-    bool clockResetDetected = previousTimestampAvailable && (_time < oldTime);
     listMutex.lock();
     auto waiter_it = waiters->begin();
-    while (waiter_it != waiters->end()) {
-        if (waiter_it->first - _time < 1E-12 || clockResetDetected) {
+    // Update the wake-up time. In case of a time reset it closes the gap between the waiter and _time.
+    waiter_it->first = _time + (waiter_it->first - oldTime);
+
+    while (waiter_it != waiters->end())
+    {
+        if (waiter_it->first - _time < 1E-12) {
             Semaphore* waiterSemaphore = waiter_it->second;
             waiter_it = waiters->erase(waiter_it);
             if (waiterSemaphore != nullptr) {