diff --git a/src/user/user_model.cc b/src/user/user_model.cc
index b96189be..178dbdd7 100644
--- a/src/user/user_model.cc
+++ b/src/user/user_model.cc
@@ -2952,6 +2952,7 @@ void mjCModel::StoreKeyframes() {
   for (auto key : keys_) {
     mjKeyInfo info;
     info.name = prefix + key->name + suffix;
+    info.time = key->spec.time;
     info.qpos = !key->spec_qpos_.empty();
     info.qvel = !key->spec_qvel_.empty();
     info.act = !key->spec_act_.empty();
@@ -3529,6 +3530,7 @@ void mjCModel::ResolveKeyframes(const mjModel* m) {
   for (const auto& info : key_pending_) {
     mjCKey* key = (mjCKey*)FindObject(mjOBJ_KEY, info.name);
     key->name = info.name;
+    key->spec.time = info.time;
     if (info.qpos) key->spec_qpos_.assign(nq, 0);
     if (info.qvel) key->spec_qvel_.assign(nv, 0);
     if (info.act) key->spec_act_.assign(na, 0);
diff --git a/src/user/user_model.h b/src/user/user_model.h
index 8b004b79..ed7ef8cc 100644
--- a/src/user/user_model.h
+++ b/src/user/user_model.h
@@ -36,6 +36,7 @@ typedef std::array<mjKeyMap, mjNOBJECT> mjListKeyMap;
 
 typedef struct mjKeyInfo_ {
   std::string name;
+  double time;
   bool qpos;
   bool qvel;
   bool act;
diff --git a/test/user/user_api_test.cc b/test/user/user_api_test.cc
index 9024be04..795503da 100644
--- a/test/user/user_api_test.cc
+++ b/test/user/user_api_test.cc
@@ -430,8 +430,8 @@ static constexpr char xml_child[] = R"(
     </contact>
 
     <keyframe>
-      <key name="two" qpos="2" act="2 2" ctrl="2 2"/>
-      <key name="three" qpos="3" act="3 3" ctrl="3 3"/>
+      <key name="two" time="2" qpos="2" act="2 2" ctrl="2 2"/>
+      <key name="three" time="3" qpos="3" act="3 3" ctrl="3 3"/>
     </keyframe>
   </mujoco>)";
 
@@ -501,10 +501,10 @@ TEST_F(MujocoTest, AttachSame) {
     </contact>
 
     <keyframe>
-      <key name="two" qpos="2 0" act="2 2 0 0" ctrl="2 2 0 0"/>
-      <key name="three" qpos="3 0" act="3 3 0 0" ctrl="3 3 0 0"/>
-      <key name="attached-two-1" qpos="0 2" act="0 0 2 2" ctrl="0 0 2 2"/>
-      <key name="attached-three-1" qpos="0 3" act="0 0 3 3" ctrl="0 0 3 3"/>
+      <key name="two" time="2" qpos="2 0" act="2 2 0 0" ctrl="2 2 0 0"/>
+      <key name="three" time="3" qpos="3 0" act="3 3 0 0" ctrl="3 3 0 0"/>
+      <key name="attached-two-1" time="2" qpos="0 2" act="0 0 2 2" ctrl="0 0 2 2"/>
+      <key name="attached-three-1" time="3" qpos="0 3" act="0 0 3 3" ctrl="0 0 3 3"/>
     </keyframe>
   </mujoco>)";
 
@@ -621,8 +621,8 @@ TEST_F(MujocoTest, AttachDifferent) {
     </contact>
 
     <keyframe>
-      <key name="attached-two-1" qpos="0 0 0 1 0 0 0 2" act="2 2" ctrl="2 2"/>
-      <key name="attached-three-1" qpos="0 0 0 1 0 0 0 3" act="3 3" ctrl="3 3"/>
+      <key name="attached-two-1" time="2" qpos="0 0 0 1 0 0 0 2" act="2 2" ctrl="2 2"/>
+      <key name="attached-three-1" time="3" qpos="0 0 0 1 0 0 0 3" act="3 3" ctrl="3 3"/>
     </keyframe>
   </mujoco>)";
 
@@ -743,8 +743,8 @@ TEST_F(MujocoTest, AttachFrame) {
     </contact>
 
     <keyframe>
-      <key name="attached-two-1" qpos="0 0 0 1 0 0 0 2" act="2 2" ctrl="2 2"/>
-      <key name="attached-three-1" qpos="0 0 0 1 0 0 0 3" act="3 3" ctrl="3 3"/>
+      <key name="attached-two-1" time="2" qpos="0 0 0 1 0 0 0 2" act="2 2" ctrl="2 2"/>
+      <key name="attached-three-1" time="3" qpos="0 0 0 1 0 0 0 3" act="3 3" ctrl="3 3"/>
     </keyframe>
   </mujoco>)";