diff --git a/source/FreeRTOS_IPv6.c b/source/FreeRTOS_IPv6.c
index 179ee9641..b021f3ef2 100644
--- a/source/FreeRTOS_IPv6.c
+++ b/source/FreeRTOS_IPv6.c
@@ -173,7 +173,29 @@ const struct xIPv6_Address FreeRTOS_in6addr_loopback = { { 0U, 0U, 0U, 0U, 0U, 0
             }
             else if( ucNextHeader == ( uint8_t ) ipPROTOCOL_ICMP_IPv6 )
             {
-                uxMinimumLength = ipSIZE_OF_ETH_HEADER + ipSIZE_OF_IPv6_HEADER + uxExtHeaderLength + ipSIZE_OF_ICMPv6_HEADER;
+                uint8_t ucTypeOfMessage;
+
+                uxMinimumLength = ipSIZE_OF_ETH_HEADER + ipSIZE_OF_IPv6_HEADER + uxExtHeaderLength;
+
+                ucTypeOfMessage = pucEthernetBuffer[ uxMinimumLength ];
+
+                if( ( ucTypeOfMessage == ipICMP_PING_REQUEST_IPv6 ) ||
+                    ( ucTypeOfMessage == ipICMP_PING_REPLY_IPv6 ) )
+                {
+                    uxMinimumLength += sizeof( ICMPEcho_IPv6_t );
+                }
+                else if( ucTypeOfMessage == ipICMP_ROUTER_SOLICITATION_IPv6 )
+                {
+                    uxMinimumLength += sizeof( ICMPRouterSolicitation_IPv6_t );
+                }
+                else if( ucTypeOfMessage == ipICMP_ROUTER_ADVERTISEMENT_IPv6 )
+                {
+                    uxMinimumLength += sizeof( ICMPRouterAdvertisement_IPv6_t );
+                }
+                else
+                {
+                    uxMinimumLength += ipSIZE_OF_ICMPv6_HEADER;
+                }
             }
             else
             {
diff --git a/test/unit-test/FreeRTOS_IPv6_ConfigDriverCheckChecksum/FreeRTOS_IPv6_ConfigDriverCheckChecksum_utest.c b/test/unit-test/FreeRTOS_IPv6_ConfigDriverCheckChecksum/FreeRTOS_IPv6_ConfigDriverCheckChecksum_utest.c
index eb5be759c..7bc71efce 100644
--- a/test/unit-test/FreeRTOS_IPv6_ConfigDriverCheckChecksum/FreeRTOS_IPv6_ConfigDriverCheckChecksum_utest.c
+++ b/test/unit-test/FreeRTOS_IPv6_ConfigDriverCheckChecksum/FreeRTOS_IPv6_ConfigDriverCheckChecksum_utest.c
@@ -229,10 +229,10 @@ void test_prvAllowIPPacketIPv6_xCheckIPv6SizeFields_length_less_than_UDP_min_req
 }
 
 /**
- * @brief test_prvAllowIPPacketIPv6_xCheckIPv6SizeFields_length_less_than_ICMP_min_requirement
+ * @brief test_prvAllowIPPacketIPv6_xCheckIPv6SizeFields_length_less_than_ICMP_min_requirement_1
  * The buffer size is less than ICMP packet minimal requirement. Check if prvAllowIPPacketIPv6 determines to release it.
  */
-void test_prvAllowIPPacketIPv6_xCheckIPv6SizeFields_length_less_than_ICMP_min_requirement()
+void test_prvAllowIPPacketIPv6_xCheckIPv6SizeFields_length_less_than_ICMP_min_requirement_1()
 {
     eFrameProcessingResult_t eResult;
     NetworkBufferDescriptor_t * pxNetworkBuffer = prvInitializeNetworkDescriptor();
@@ -241,12 +241,95 @@ void test_prvAllowIPPacketIPv6_xCheckIPv6SizeFields_length_less_than_ICMP_min_re
     /* Set next header to ICMPv6 */
     pxIPPacket->xIPHeader.ucNextHeader = ipPROTOCOL_ICMP_IPv6;
     pxNetworkBuffer->xDataLength = ipSIZE_OF_ETH_HEADER + ipSIZE_OF_IPv6_HEADER + 1;
+    pxNetworkBuffer->pucEthernetBuffer[ ipSIZE_OF_ETH_HEADER + ipSIZE_OF_IPv6_HEADER ] = ipICMP_ROUTER_SOLICITATION_IPv6;
     pxIPPacket->xIPHeader.usPayloadLength = FreeRTOS_htons( 1 );
 
     eResult = prvAllowIPPacketIPv6( &pxIPPacket->xIPHeader, pxNetworkBuffer, 0U );
     TEST_ASSERT_EQUAL( eReleaseBuffer, eResult );
 }
 
+/**
+ * @brief test_prvAllowIPPacketIPv6_xCheckIPv6SizeFields_length_less_than_ICMP_min_requirement_2
+ * The buffer size is less than ICMP packet minimal requirement. Check if prvAllowIPPacketIPv6 determines to release it.
+ */
+void test_prvAllowIPPacketIPv6_xCheckIPv6SizeFields_length_less_than_ICMP_min_requirement_2()
+{
+    eFrameProcessingResult_t eResult;
+    NetworkBufferDescriptor_t * pxNetworkBuffer = prvInitializeNetworkDescriptor();
+    IPPacket_IPv6_t * pxIPPacket = ( IPPacket_IPv6_t * ) pxNetworkBuffer->pucEthernetBuffer;
+
+    /* Set next header to ICMPv6 */
+    pxIPPacket->xIPHeader.ucNextHeader = ipPROTOCOL_ICMP_IPv6;
+    pxNetworkBuffer->xDataLength = ipSIZE_OF_ETH_HEADER + ipSIZE_OF_IPv6_HEADER + 1;
+    pxNetworkBuffer->pucEthernetBuffer[ ipSIZE_OF_ETH_HEADER + ipSIZE_OF_IPv6_HEADER ] = ipICMP_ROUTER_ADVERTISEMENT_IPv6;
+    pxIPPacket->xIPHeader.usPayloadLength = FreeRTOS_htons( 1 );
+
+    eResult = prvAllowIPPacketIPv6( &pxIPPacket->xIPHeader, pxNetworkBuffer, 0U );
+    TEST_ASSERT_EQUAL( eReleaseBuffer, eResult );
+}
+
+/**
+ * @brief test_prvAllowIPPacketIPv6_xCheckIPv6SizeFields_length_less_than_ICMP_min_requirement_3
+ * The buffer size is less than ICMP packet minimal requirement. Check if prvAllowIPPacketIPv6 determines to release it.
+ */
+void test_prvAllowIPPacketIPv6_xCheckIPv6SizeFields_length_less_than_ICMP_min_requirement_3()
+{
+    eFrameProcessingResult_t eResult;
+    NetworkBufferDescriptor_t * pxNetworkBuffer = prvInitializeNetworkDescriptor();
+    IPPacket_IPv6_t * pxIPPacket = ( IPPacket_IPv6_t * ) pxNetworkBuffer->pucEthernetBuffer;
+
+    /* Set next header to ICMPv6 */
+    pxIPPacket->xIPHeader.ucNextHeader = ipPROTOCOL_ICMP_IPv6;
+    pxNetworkBuffer->xDataLength = ipSIZE_OF_ETH_HEADER + ipSIZE_OF_IPv6_HEADER + 1;
+    pxNetworkBuffer->pucEthernetBuffer[ ipSIZE_OF_ETH_HEADER + ipSIZE_OF_IPv6_HEADER ] = ipICMP_PING_REQUEST_IPv6;
+    pxIPPacket->xIPHeader.usPayloadLength = FreeRTOS_htons( 1 );
+
+    eResult = prvAllowIPPacketIPv6( &pxIPPacket->xIPHeader, pxNetworkBuffer, 0U );
+    TEST_ASSERT_EQUAL( eReleaseBuffer, eResult );
+}
+
+/**
+ * @brief test_prvAllowIPPacketIPv6_xCheckIPv6SizeFields_length_less_than_ICMP_min_requirement_4
+ * The buffer size is less than ICMP packet minimal requirement. Check if prvAllowIPPacketIPv6 determines to release it.
+ */
+void test_prvAllowIPPacketIPv6_xCheckIPv6SizeFields_length_less_than_ICMP_min_requirement_4()
+{
+    eFrameProcessingResult_t eResult;
+    NetworkBufferDescriptor_t * pxNetworkBuffer = prvInitializeNetworkDescriptor();
+    IPPacket_IPv6_t * pxIPPacket = ( IPPacket_IPv6_t * ) pxNetworkBuffer->pucEthernetBuffer;
+
+    /* Set next header to ICMPv6 */
+    pxIPPacket->xIPHeader.ucNextHeader = ipPROTOCOL_ICMP_IPv6;
+    pxNetworkBuffer->xDataLength = ipSIZE_OF_ETH_HEADER + ipSIZE_OF_IPv6_HEADER + 1;
+    pxNetworkBuffer->pucEthernetBuffer[ ipSIZE_OF_ETH_HEADER + ipSIZE_OF_IPv6_HEADER ] = ipICMP_PING_REPLY_IPv6;
+    pxIPPacket->xIPHeader.usPayloadLength = FreeRTOS_htons( 1 );
+
+    eResult = prvAllowIPPacketIPv6( &pxIPPacket->xIPHeader, pxNetworkBuffer, 0U );
+    TEST_ASSERT_EQUAL( eReleaseBuffer, eResult );
+}
+
+/**
+ * @brief test_prvAllowIPPacketIPv6_xCheckIPv6SizeFields_length_less_than_ICMP_min_requirement_5
+ * This is the default case for all ICMPv6 packet length testing.
+ * The buffer size is less than ICMP packet minimal requirement. Check if prvAllowIPPacketIPv6 determines to release it.
+ */
+void test_prvAllowIPPacketIPv6_xCheckIPv6SizeFields_length_less_than_ICMP_min_requirement_5()
+{
+    eFrameProcessingResult_t eResult;
+    NetworkBufferDescriptor_t * pxNetworkBuffer = prvInitializeNetworkDescriptor();
+    IPPacket_IPv6_t * pxIPPacket = ( IPPacket_IPv6_t * ) pxNetworkBuffer->pucEthernetBuffer;
+
+    /* Set next header to ICMPv6 */
+    pxIPPacket->xIPHeader.ucNextHeader = ipPROTOCOL_ICMP_IPv6;
+    pxNetworkBuffer->xDataLength = ipSIZE_OF_ETH_HEADER + ipSIZE_OF_IPv6_HEADER + 1;
+    pxNetworkBuffer->pucEthernetBuffer[ ipSIZE_OF_ETH_HEADER + ipSIZE_OF_IPv6_HEADER ] = ipICMP_NEIGHBOR_SOLICITATION_IPv6;
+    pxIPPacket->xIPHeader.usPayloadLength = FreeRTOS_htons( 1 );
+
+    eResult = prvAllowIPPacketIPv6( &pxIPPacket->xIPHeader, pxNetworkBuffer, 0U );
+    TEST_ASSERT_EQUAL( eReleaseBuffer, eResult );
+}
+
+
 /**
  * @brief test_prvAllowIPPacketIPv6_source_unspecified_address
  * Prepare a packet with unspecified address in source address.