diff --git a/rclcpp_action/include/rclcpp_action/client_goal_handle.hpp b/rclcpp_action/include/rclcpp_action/client_goal_handle.hpp
index 73987ec887..919a26f852 100644
--- a/rclcpp_action/include/rclcpp_action/client_goal_handle.hpp
+++ b/rclcpp_action/include/rclcpp_action/client_goal_handle.hpp
@@ -91,9 +91,21 @@ class ClientGoalHandle
   get_goal_stamp() const;
 
   /// Get the goal status code.
+  /**
+   * \deprecated Use get_status_code(), which returns a GoalStatusCode.
+   */
+  [[deprecated("use get_status_code() instead")]]
   int8_t
   get_status();
 
+  /// Get the goal status code as a GoalStatusCode.
+  /**
+   * \throws exceptions::InvalidGoalStatusError If the server sent a status that is not one of
+   *   the action_msgs::msg::GoalStatus values.
+   */
+  GoalStatusCode
+  get_status_code();
+
   /// Check if an action client has subscribed to feedback for the goal.
   bool
   is_feedback_aware();
diff --git a/rclcpp_action/include/rclcpp_action/client_goal_handle_impl.hpp b/rclcpp_action/include/rclcpp_action/client_goal_handle_impl.hpp
index 58b1d7f248..06ba868fc2 100644
--- a/rclcpp_action/include/rclcpp_action/client_goal_handle_impl.hpp
+++ b/rclcpp_action/include/rclcpp_action/client_goal_handle_impl.hpp
@@ -103,6 +103,18 @@ ClientGoalHandle<ActionT>::get_status()
   return status_;
 }
 
+template<typename ActionT>
+GoalStatusCode
+ClientGoalHandle<ActionT>::get_status_code()
+{
+  std::lock_guard<std::recursive_mutex> guard(handle_mutex_);
+  const int8_t status = status_;
+  if (status < GoalStatus::STATUS_UNKNOWN || status > GoalStatus::STATUS_ABORTED) {
+    throw exceptions::InvalidGoalStatusError(status);
+  }
+  return static_cast<GoalStatusCode>(status);
+}
+
 template<typename ActionT>
 void
 ClientGoalHandle<ActionT>::set_status(int8_t status)
diff --git a/rclcpp_action/include/rclcpp_action/exceptions.hpp b/rclcpp_action/include/rclcpp_action/exceptions.hpp
index a1fcf50bff..20bc224d5a 100644
--- a/rclcpp_action/include/rclcpp_action/exceptions.hpp
+++ b/rclcpp_action/include/rclcpp_action/exceptions.hpp
@@ -15,6 +15,7 @@
 #ifndef RCLCPP_ACTION__EXCEPTIONS_HPP_
 #define RCLCPP_ACTION__EXCEPTIONS_HPP_
 
+#include <cstdint>
 #include <stdexcept>
 #include <string>
 
@@ -41,6 +42,16 @@ class UnawareGoalHandleError : public std::runtime_error
   }
 };
 
+class InvalidGoalStatusError : public std::runtime_error
+{
+public:
+  explicit InvalidGoalStatusError(int8_t status)
+  : std::runtime_error(
+      "Goal status " + std::to_string(status) + " is not an action_msgs/GoalStatus value.")
+  {
+  }
+};
+
 }  // namespace exceptions
 
 }  // namespace rclcpp_action
diff --git a/rclcpp_action/include/rclcpp_action/generic_client_goal_handle.hpp b/rclcpp_action/include/rclcpp_action/generic_client_goal_handle.hpp
index 1d7fa34884..704937eea3 100644
--- a/rclcpp_action/include/rclcpp_action/generic_client_goal_handle.hpp
+++ b/rclcpp_action/include/rclcpp_action/generic_client_goal_handle.hpp
@@ -82,10 +82,23 @@ class GenericClientGoalHandle
   get_goal_stamp() const;
 
   /// Get the goal status code.
+  /**
+   * \deprecated Use get_status_code(), which returns a GoalStatusCode.
+   */
+  [[deprecated("use get_status_code() instead")]]
   RCLCPP_ACTION_PUBLIC
   int8_t
   get_status();
 
+  /// Get the goal status code as a GoalStatusCode.
+  /**
+   * \throws exceptions::InvalidGoalStatusError If the server sent a status that is not one of
+   *   the action_msgs::msg::GoalStatus values.
+   */
+  RCLCPP_ACTION_PUBLIC
+  GoalStatusCode
+  get_status_code();
+
   /// Check if an action client has subscribed to feedback for the goal.
   RCLCPP_ACTION_PUBLIC
   bool
diff --git a/rclcpp_action/include/rclcpp_action/types.hpp b/rclcpp_action/include/rclcpp_action/types.hpp
index 2033891aa9..f383673123 100644
--- a/rclcpp_action/include/rclcpp_action/types.hpp
+++ b/rclcpp_action/include/rclcpp_action/types.hpp
@@ -34,6 +34,18 @@ using GoalUUID = std::array<uint8_t, UUID_SIZE>;
 using GoalStatus = action_msgs::msg::GoalStatus;
 using GoalInfo = action_msgs::msg::GoalInfo;
 
+/// Every status a goal can have, as defined in action_msgs::msg::GoalStatus.
+enum class GoalStatusCode : int8_t
+{
+  UNKNOWN = GoalStatus::STATUS_UNKNOWN,
+  ACCEPTED = GoalStatus::STATUS_ACCEPTED,
+  EXECUTING = GoalStatus::STATUS_EXECUTING,
+  CANCELING = GoalStatus::STATUS_CANCELING,
+  SUCCEEDED = GoalStatus::STATUS_SUCCEEDED,
+  CANCELED = GoalStatus::STATUS_CANCELED,
+  ABORTED = GoalStatus::STATUS_ABORTED
+};
+
 /// Convert a goal id to a human readable RFC-4122 compliant string.
 RCLCPP_ACTION_PUBLIC
 std::string
diff --git a/rclcpp_action/src/generic_client_goal_handle.cpp b/rclcpp_action/src/generic_client_goal_handle.cpp
index b0fad95903..78b2c74017 100644
--- a/rclcpp_action/src/generic_client_goal_handle.cpp
+++ b/rclcpp_action/src/generic_client_goal_handle.cpp
@@ -89,6 +89,17 @@ GenericClientGoalHandle::get_status()
   return status_;
 }
 
+GoalStatusCode
+GenericClientGoalHandle::get_status_code()
+{
+  std::lock_guard<std::recursive_mutex> guard(handle_mutex_);
+  const int8_t status = status_;
+  if (status < GoalStatus::STATUS_UNKNOWN || status > GoalStatus::STATUS_ABORTED) {
+    throw exceptions::InvalidGoalStatusError(status);
+  }
+  return static_cast<GoalStatusCode>(status);
+}
+
 void
 GenericClientGoalHandle::set_status(int8_t status)
 {
diff --git a/rclcpp_action/test/benchmark/benchmark_action_client.cpp b/rclcpp_action/test/benchmark/benchmark_action_client.cpp
index 3587674cee..566a55caba 100644
--- a/rclcpp_action/test/benchmark/benchmark_action_client.cpp
+++ b/rclcpp_action/test/benchmark/benchmark_action_client.cpp
@@ -234,7 +234,7 @@ BENCHMARK_F(ActionClientPerformanceTest, async_send_goal_get_accepted_response)(
     }
 
     auto goal_handle = future_goal_handle.get();
-    if (rclcpp_action::GoalStatus::STATUS_ACCEPTED != goal_handle->get_status()) {
+    if (rclcpp_action::GoalStatusCode::ACCEPTED != goal_handle->get_status_code()) {
       state.SkipWithError("Valid goal was not accepted");
       return;
     }
diff --git a/rclcpp_action/test/benchmark/benchmark_action_server.cpp b/rclcpp_action/test/benchmark/benchmark_action_server.cpp
index 28017cf0e6..60d6f77411 100644
--- a/rclcpp_action/test/benchmark/benchmark_action_server.cpp
+++ b/rclcpp_action/test/benchmark/benchmark_action_server.cpp
@@ -157,7 +157,7 @@ BENCHMARK_F(ActionServerPerformanceTest, action_server_accept_goal)(benchmark::S
 
     rclcpp::spin_until_future_complete(node, client_goal_handle_future);
     auto goal_handle = client_goal_handle_future.get();
-    if (rclcpp_action::GoalStatus::STATUS_ACCEPTED != goal_handle->get_status()) {
+    if (rclcpp_action::GoalStatusCode::ACCEPTED != goal_handle->get_status_code()) {
       state.SkipWithError("Valid goal was not accepted");
       return;
     }
@@ -226,7 +226,7 @@ BENCHMARK_F(ActionServerPerformanceTest, action_server_execute_goal)(benchmark::
 
     rclcpp::spin_until_future_complete(node, client_goal_handle_future);
     auto goal_handle = client_goal_handle_future.get();
-    if (rclcpp_action::GoalStatus::STATUS_ACCEPTED != goal_handle->get_status()) {
+    if (rclcpp_action::GoalStatusCode::ACCEPTED != goal_handle->get_status_code()) {
       state.SkipWithError("Valid goal was not accepted");
       return;
     }
@@ -272,7 +272,7 @@ BENCHMARK_F(ActionServerPerformanceTest, action_server_set_success)(benchmark::S
 
     rclcpp::spin_until_future_complete(node, client_goal_handle_future);
     auto goal_handle = client_goal_handle_future.get();
-    if (rclcpp_action::GoalStatus::STATUS_ACCEPTED != goal_handle->get_status()) {
+    if (rclcpp_action::GoalStatusCode::ACCEPTED != goal_handle->get_status_code()) {
       state.SkipWithError("Valid goal was not accepted");
       return;
     }
@@ -317,7 +317,7 @@ BENCHMARK_F(ActionServerPerformanceTest, action_server_abort)(benchmark::State &
 
     rclcpp::spin_until_future_complete(node, client_goal_handle_future);
     auto goal_handle = client_goal_handle_future.get();
-    if (rclcpp_action::GoalStatus::STATUS_ACCEPTED != goal_handle->get_status()) {
+    if (rclcpp_action::GoalStatusCode::ACCEPTED != goal_handle->get_status_code()) {
       state.SkipWithError("Valid goal was not accepted");
       return;
     }
diff --git a/rclcpp_action/test/test_client.cpp b/rclcpp_action/test/test_client.cpp
index d11866251a..9f2f757c18 100644
--- a/rclcpp_action/test/test_client.cpp
+++ b/rclcpp_action/test/test_client.cpp
@@ -56,6 +56,8 @@
 #include "rclcpp_action/qos.hpp"
 #include "rclcpp_action/types.hpp"
 
+#include "rcpputils/compile_warnings.hpp"
+
 #include "mocking_utils/patch.hpp"
 
 using namespace std::chrono_literals;
@@ -596,7 +598,7 @@ TEST_F(TestClientAgainstServer, async_send_goal_no_callbacks)
   future_goal_handle = action_client->async_send_goal(good_goal);
   dual_spin_until_future_complete(future_goal_handle);
   auto goal_handle = future_goal_handle.get();
-  EXPECT_EQ(rclcpp_action::GoalStatus::STATUS_ACCEPTED, goal_handle->get_status());
+  EXPECT_EQ(rclcpp_action::GoalStatusCode::ACCEPTED, goal_handle->get_status_code());
   EXPECT_FALSE(goal_handle->is_feedback_aware());
   EXPECT_FALSE(goal_handle->is_result_aware());
 }
@@ -628,13 +630,14 @@ TEST_F(TestClientAgainstServer, async_send_goal_no_callbacks_wait_for_result)
   auto future_goal_handle = action_client->async_send_goal(goal);
   dual_spin_until_future_complete(future_goal_handle);
   auto goal_handle = future_goal_handle.get();
-  EXPECT_EQ(rclcpp_action::GoalStatus::STATUS_ACCEPTED, goal_handle->get_status());
+  EXPECT_EQ(rclcpp_action::GoalStatusCode::ACCEPTED, goal_handle->get_status_code());
   EXPECT_FALSE(goal_handle->is_feedback_aware());
   EXPECT_FALSE(goal_handle->is_result_aware());
   auto future_result = action_client->async_get_result(goal_handle);
   EXPECT_TRUE(goal_handle->is_result_aware());
   dual_spin_until_future_complete(future_result);
   auto wrapped_result = future_result.get();
+  EXPECT_EQ(rclcpp_action::GoalStatusCode::SUCCEEDED, goal_handle->get_status_code());
   ASSERT_EQ(6ul, wrapped_result.result->sequence.size());
   EXPECT_EQ(0, wrapped_result.result->sequence[0]);
   EXPECT_EQ(1, wrapped_result.result->sequence[1]);
@@ -652,17 +655,52 @@ TEST_F(TestClientAgainstServer, async_send_goal_no_callbacks_then_invalidate)
   dual_spin_until_future_complete(future_goal_handle);
   auto goal_handle = future_goal_handle.get();
   ASSERT_NE(nullptr, goal_handle);
-  EXPECT_EQ(rclcpp_action::GoalStatus::STATUS_ACCEPTED, goal_handle->get_status());
+  EXPECT_EQ(rclcpp_action::GoalStatusCode::ACCEPTED, goal_handle->get_status_code());
   auto future_result = action_client->async_get_result(goal_handle);
   EXPECT_TRUE(goal_handle->is_result_aware());
 
   action_client.reset();  // Ensure goal handle is invalidated once client goes out of scope
 
-  EXPECT_EQ(rclcpp_action::GoalStatus::STATUS_UNKNOWN, goal_handle->get_status());
+  EXPECT_EQ(rclcpp_action::GoalStatusCode::UNKNOWN, goal_handle->get_status_code());
   using rclcpp_action::exceptions::UnawareGoalHandleError;
   EXPECT_THROW(future_result.get(), UnawareGoalHandleError);
 }
 
+// get_status() is deprecated, but this test checks it still returns the raw value.
+RCPPUTILS_DEPRECATION_WARNING_OFF_START
+TEST_F(TestClientAgainstServer, get_status_code_out_of_range)
+{
+  auto action_client = rclcpp_action::create_client<ActionType>(client_node, action_name);
+  ASSERT_TRUE(action_client->wait_for_action_server(WAIT_FOR_SERVER_TIMEOUT));
+
+  ActionGoal goal;
+  goal.order = 5;
+  auto future_goal_handle = action_client->async_send_goal(goal);
+  dual_spin_until_future_complete(future_goal_handle);
+  auto goal_handle = future_goal_handle.get();
+  ASSERT_NE(nullptr, goal_handle);
+
+  // A server that does not follow the action protocol can send any int8_t as a status.
+  const int8_t out_of_range_status = 42;
+  ActionStatusMessage status_message;
+  rclcpp_action::GoalStatus goal_status;
+  goal_status.goal_info.goal_id.uuid = goal_handle->get_goal_id();
+  goal_status.status = out_of_range_status;
+  status_message.status_list.push_back(goal_status);
+  status_publisher->publish(status_message);
+
+  const auto deadline = std::chrono::steady_clock::now() + std::chrono::seconds(5);
+  while (goal_handle->get_status() != out_of_range_status &&
+    std::chrono::steady_clock::now() < deadline)
+  {
+    client_executor.spin_some();
+  }
+  ASSERT_EQ(out_of_range_status, goal_handle->get_status());
+  EXPECT_THROW(
+    goal_handle->get_status_code(), rclcpp_action::exceptions::InvalidGoalStatusError);
+}
+RCPPUTILS_DEPRECATION_WARNING_OFF_STOP
+
 TEST_F(TestClientAgainstServer, async_send_goal_with_goal_response_callback_wait_for_result)
 {
   auto action_client = rclcpp_action::create_client<ActionType>(client_node, action_name);
@@ -695,7 +733,7 @@ TEST_F(TestClientAgainstServer, async_send_goal_with_goal_response_callback_wait
     dual_spin_until_future_complete(future_goal_handle);
     auto goal_handle = future_goal_handle.get();
     EXPECT_TRUE(goal_response_received);
-    EXPECT_EQ(rclcpp_action::GoalStatus::STATUS_ACCEPTED, goal_handle->get_status());
+    EXPECT_EQ(rclcpp_action::GoalStatusCode::ACCEPTED, goal_handle->get_status_code());
     EXPECT_FALSE(goal_handle->is_feedback_aware());
     EXPECT_FALSE(goal_handle->is_result_aware());
     auto future_result = action_client->async_get_result(goal_handle);
@@ -725,7 +763,7 @@ TEST_F(TestClientAgainstServer, async_send_goal_with_feedback_callback_wait_for_
   auto future_goal_handle = action_client->async_send_goal(goal, send_goal_ops);
   dual_spin_until_future_complete(future_goal_handle);
   auto goal_handle = future_goal_handle.get();
-  EXPECT_EQ(rclcpp_action::GoalStatus::STATUS_ACCEPTED, goal_handle->get_status());
+  EXPECT_EQ(rclcpp_action::GoalStatusCode::ACCEPTED, goal_handle->get_status_code());
   EXPECT_TRUE(goal_handle->is_feedback_aware());
   EXPECT_FALSE(goal_handle->is_result_aware());
   auto future_result = action_client->async_get_result(goal_handle);
@@ -761,7 +799,7 @@ TEST_F(TestClientAgainstServer, async_send_goal_with_result_callback_wait_for_re
   auto future_goal_handle = action_client->async_send_goal(goal, send_goal_ops);
   dual_spin_until_future_complete(future_goal_handle);
   auto goal_handle = future_goal_handle.get();
-  EXPECT_EQ(rclcpp_action::GoalStatus::STATUS_ACCEPTED, goal_handle->get_status());
+  EXPECT_EQ(rclcpp_action::GoalStatusCode::ACCEPTED, goal_handle->get_status_code());
   EXPECT_FALSE(goal_handle->is_feedback_aware());
   EXPECT_TRUE(goal_handle->is_result_aware());
   auto future_result = action_client->async_get_result(goal_handle);
@@ -784,7 +822,7 @@ TEST_F(TestClientAgainstServer, async_get_result_with_callback)
   dual_spin_until_future_complete(future_goal_handle);
   auto goal_handle = future_goal_handle.get();
   EXPECT_NE(goal_handle, nullptr);
-  EXPECT_EQ(rclcpp_action::GoalStatus::STATUS_ACCEPTED, goal_handle->get_status());
+  EXPECT_EQ(rclcpp_action::GoalStatusCode::ACCEPTED, goal_handle->get_status_code());
   EXPECT_FALSE(goal_handle->is_feedback_aware());
   EXPECT_FALSE(goal_handle->is_result_aware());
   bool result_callback_received = false;
@@ -818,7 +856,7 @@ TEST_F(TestClientAgainstServer, async_cancel_one_goal)
   auto future_goal_handle = action_client->async_send_goal(goal);
   dual_spin_until_future_complete(future_goal_handle);
   auto goal_handle = future_goal_handle.get();
-  EXPECT_EQ(rclcpp_action::GoalStatus::STATUS_ACCEPTED, goal_handle->get_status());
+  EXPECT_EQ(rclcpp_action::GoalStatusCode::ACCEPTED, goal_handle->get_status_code());
 
   auto future_cancel = action_client->async_cancel_goal(goal_handle);
   dual_spin_until_future_complete(future_cancel);
@@ -836,7 +874,7 @@ TEST_F(TestClientAgainstServer, async_cancel_one_goal_with_callback)
   auto future_goal_handle = action_client->async_send_goal(goal);
   dual_spin_until_future_complete(future_goal_handle);
   auto goal_handle = future_goal_handle.get();
-  EXPECT_EQ(rclcpp_action::GoalStatus::STATUS_ACCEPTED, goal_handle->get_status());
+  EXPECT_EQ(rclcpp_action::GoalStatusCode::ACCEPTED, goal_handle->get_status_code());
 
   bool cancel_response_received = false;
   auto future_cancel = action_client->async_cancel_goal(
@@ -892,8 +930,8 @@ TEST_F(TestClientAgainstServer, async_cancel_all_goals)
   ASSERT_EQ(2ul, cancel_response->goals_canceling.size());
   EXPECT_EQ(goal_handle0->get_goal_id(), cancel_response->goals_canceling[0].goal_id.uuid);
   EXPECT_EQ(goal_handle1->get_goal_id(), cancel_response->goals_canceling[1].goal_id.uuid);
-  EXPECT_EQ(rclcpp_action::GoalStatus::STATUS_CANCELED, goal_handle0->get_status());
-  EXPECT_EQ(rclcpp_action::GoalStatus::STATUS_CANCELED, goal_handle1->get_status());
+  EXPECT_EQ(rclcpp_action::GoalStatusCode::CANCELED, goal_handle0->get_status_code());
+  EXPECT_EQ(rclcpp_action::GoalStatusCode::CANCELED, goal_handle1->get_status_code());
 }
 
 TEST_F(TestClientAgainstServer, async_cancel_all_goals_with_callback)
@@ -942,8 +980,8 @@ TEST_F(TestClientAgainstServer, async_cancel_all_goals_with_callback)
   ASSERT_EQ(2ul, cancel_response->goals_canceling.size());
   EXPECT_EQ(goal_handle0->get_goal_id(), cancel_response->goals_canceling[0].goal_id.uuid);
   EXPECT_EQ(goal_handle1->get_goal_id(), cancel_response->goals_canceling[1].goal_id.uuid);
-  EXPECT_EQ(rclcpp_action::GoalStatus::STATUS_CANCELED, goal_handle0->get_status());
-  EXPECT_EQ(rclcpp_action::GoalStatus::STATUS_CANCELED, goal_handle1->get_status());
+  EXPECT_EQ(rclcpp_action::GoalStatusCode::CANCELED, goal_handle0->get_status_code());
+  EXPECT_EQ(rclcpp_action::GoalStatusCode::CANCELED, goal_handle1->get_status_code());
 }
 
 TEST_F(TestClientAgainstServer, async_cancel_some_goals)
@@ -974,7 +1012,7 @@ TEST_F(TestClientAgainstServer, async_cancel_some_goals)
   EXPECT_EQ(ActionCancelGoalResponse::ERROR_NONE, cancel_response->return_code);
   ASSERT_EQ(1ul, cancel_response->goals_canceling.size());
   EXPECT_EQ(goal_handle0->get_goal_id(), cancel_response->goals_canceling[0].goal_id.uuid);
-  EXPECT_EQ(rclcpp_action::GoalStatus::STATUS_CANCELED, goal_handle0->get_status());
+  EXPECT_EQ(rclcpp_action::GoalStatusCode::CANCELED, goal_handle0->get_status_code());
 }
 
 TEST_F(TestClientAgainstServer, async_cancel_some_goals_with_callback)
@@ -1017,7 +1055,7 @@ TEST_F(TestClientAgainstServer, async_cancel_some_goals_with_callback)
   EXPECT_TRUE(cancel_callback_received);
   ASSERT_EQ(1ul, cancel_response->goals_canceling.size());
   EXPECT_EQ(goal_handle0->get_goal_id(), cancel_response->goals_canceling[0].goal_id.uuid);
-  EXPECT_EQ(rclcpp_action::GoalStatus::STATUS_CANCELED, goal_handle0->get_status());
+  EXPECT_EQ(rclcpp_action::GoalStatusCode::CANCELED, goal_handle0->get_status_code());
 }
 
 TEST_F(TestClientAgainstServer, deadlock_in_callbacks)
@@ -1040,7 +1078,7 @@ TEST_F(TestClientAgainstServer, deadlock_in_callbacks)
         const GoalHandle::SharedPtr handle, ActionType::Feedback::ConstSharedPtr)
       {
         // call functions on the handle that acquire the lock
-        handle->get_status();
+        handle->get_status_code();
         handle->is_feedback_aware();
         handle->is_result_aware();
 
@@ -1049,7 +1087,7 @@ TEST_F(TestClientAgainstServer, deadlock_in_callbacks)
       ops.goal_response_callback = [&response_callback_called](
         const GoalHandle::SharedPtr & handle) {
         // call functions on the handle that acquire the lock
-        handle->get_status();
+        handle->get_status_code();
         handle->is_feedback_aware();
         handle->is_result_aware();
 
@@ -1126,7 +1164,7 @@ TEST_F(TestClientAgainstServer, send_rcl_errors)
     auto future_goal_handle = action_client->async_send_goal(goal, send_goal_ops);
     dual_spin_until_future_complete(future_goal_handle);
     auto goal_handle = future_goal_handle.get();
-    EXPECT_EQ(rclcpp_action::GoalStatus::STATUS_UNKNOWN, goal_handle->get_status());
+    EXPECT_EQ(rclcpp_action::GoalStatusCode::UNKNOWN, goal_handle->get_status_code());
   }
   {
     ActionGoal goal;
@@ -1263,7 +1301,7 @@ TEST_F(TestClientAgainstServer,
 
   for (size_t i = 0; i < orders.size(); ++i) {
     auto goal_handle = goal_handle_futures[i].get();
-    EXPECT_EQ(rclcpp_action::GoalStatus::STATUS_ACCEPTED, goal_handle->get_status());
+    EXPECT_EQ(rclcpp_action::GoalStatusCode::ACCEPTED, goal_handle->get_status_code());
     EXPECT_TRUE(goal_handle->is_feedback_aware());
     EXPECT_FALSE(goal_handle->is_result_aware());
 
@@ -1332,7 +1370,7 @@ TEST_F(TestClientAgainstServer,
   for (size_t i = 0; i < goal_count; ++i) {
     dual_spin_until_future_complete(goal_handle_futures[i]);
     auto goal_handle = goal_handle_futures[i].get();
-    EXPECT_EQ(rclcpp_action::GoalStatus::STATUS_ACCEPTED, goal_handle->get_status());
+    EXPECT_EQ(rclcpp_action::GoalStatusCode::ACCEPTED, goal_handle->get_status_code());
     EXPECT_TRUE(goal_handle->is_feedback_aware());
     EXPECT_FALSE(goal_handle->is_result_aware());
     result_futures[i] = action_client->async_get_result(goal_handle);
diff --git a/rclcpp_action/test/test_generic_client.cpp b/rclcpp_action/test/test_generic_client.cpp
index 10c2bec036..d3c5fa79a5 100644
--- a/rclcpp_action/test/test_generic_client.cpp
+++ b/rclcpp_action/test/test_generic_client.cpp
@@ -41,6 +41,8 @@
 #include "rclcpp_action/qos.hpp"
 #include "rclcpp_action/server.hpp"
 
+#include "rcpputils/compile_warnings.hpp"
+
 #include "test_msgs/action/fibonacci.hpp"
 #include "test_msgs/msg/empty.hpp"
 
@@ -491,7 +493,7 @@ TEST_F(TestGenericClientAgainstServer, async_send_goal_no_callbacks)
     action_generic_client->async_send_goal(&good_goal, sizeof(good_goal));
   dual_spin_until_future_complete(future_goal_handle);
   auto goal_handle = future_goal_handle.get();
-  EXPECT_EQ(rclcpp_action::GoalStatus::STATUS_ACCEPTED, goal_handle->get_status());
+  EXPECT_EQ(rclcpp_action::GoalStatusCode::ACCEPTED, goal_handle->get_status_code());
   EXPECT_FALSE(goal_handle->is_feedback_aware());
   EXPECT_FALSE(goal_handle->is_result_aware());
 }
@@ -517,7 +519,7 @@ TEST_F(TestGenericClientAgainstServer, async_send_goal_request_no_callbacks)
     action_generic_client->async_send_goal(&good_goal_request);
   dual_spin_until_future_complete(future_goal_handle);
   auto goal_handle = future_goal_handle.get();
-  EXPECT_EQ(rclcpp_action::GoalStatus::STATUS_ACCEPTED, goal_handle->get_status());
+  EXPECT_EQ(rclcpp_action::GoalStatusCode::ACCEPTED, goal_handle->get_status_code());
   EXPECT_FALSE(goal_handle->is_feedback_aware());
   EXPECT_FALSE(goal_handle->is_result_aware());
 }
@@ -558,13 +560,14 @@ TEST_F(TestGenericClientAgainstServer, async_send_goal_no_callbacks_wait_for_res
   auto future_goal_handle = action_generic_client->async_send_goal(&goal, sizeof(goal));
   dual_spin_until_future_complete(future_goal_handle);
   auto goal_handle = future_goal_handle.get();
-  EXPECT_EQ(rclcpp_action::GoalStatus::STATUS_ACCEPTED, goal_handle->get_status());
+  EXPECT_EQ(rclcpp_action::GoalStatusCode::ACCEPTED, goal_handle->get_status_code());
   EXPECT_FALSE(goal_handle->is_feedback_aware());
   EXPECT_FALSE(goal_handle->is_result_aware());
   auto future_result = action_generic_client->async_get_result(goal_handle);
   EXPECT_TRUE(goal_handle->is_result_aware());
   dual_spin_until_future_complete(future_result);
   auto wrapped_result = future_result.get();
+  EXPECT_EQ(rclcpp_action::GoalStatusCode::SUCCEEDED, goal_handle->get_status_code());
   const ActionResult * result = static_cast<const ActionResult *>(wrapped_result.result);
   EXPECT_EQ(wrapped_result.code, rclcpp_action::GenericClientGoalHandle::ResultCode::SUCCEEDED);
   EXPECT_EQ(6ul, result->sequence.size());
@@ -587,17 +590,55 @@ TEST_F(TestGenericClientAgainstServer, async_send_goal_no_callbacks_then_invalid
   dual_spin_until_future_complete(future_goal_handle);
   auto goal_handle = future_goal_handle.get();
   ASSERT_NE(nullptr, goal_handle);
-  EXPECT_EQ(rclcpp_action::GoalStatus::STATUS_ACCEPTED, goal_handle->get_status());
+  EXPECT_EQ(rclcpp_action::GoalStatusCode::ACCEPTED, goal_handle->get_status_code());
   auto future_result = action_generic_client->async_get_result(goal_handle);
   EXPECT_TRUE(goal_handle->is_result_aware());
 
   action_generic_client.reset();  // Ensure goal handle is invalidated once client goes out of scope
 
-  EXPECT_EQ(rclcpp_action::GoalStatus::STATUS_UNKNOWN, goal_handle->get_status());
+  EXPECT_EQ(rclcpp_action::GoalStatusCode::UNKNOWN, goal_handle->get_status_code());
   using rclcpp_action::exceptions::UnawareGoalHandleError;
   EXPECT_THROW(future_result.get(), UnawareGoalHandleError);
 }
 
+// get_status() is deprecated, but this test checks it still returns the raw value.
+RCPPUTILS_DEPRECATION_WARNING_OFF_START
+TEST_F(TestGenericClientAgainstServer, get_status_code_out_of_range)
+{
+  auto action_generic_client = rclcpp_action::create_generic_client(
+    client_node,
+    action_name,
+    "test_msgs/action/Fibonacci");
+  ASSERT_TRUE(action_generic_client->wait_for_action_server(WAIT_FOR_SERVER_TIMEOUT));
+
+  ActionGoal goal;
+  goal.order = 5;
+  auto future_goal_handle = action_generic_client->async_send_goal(&goal, sizeof(goal));
+  dual_spin_until_future_complete(future_goal_handle);
+  auto goal_handle = future_goal_handle.get();
+  ASSERT_NE(nullptr, goal_handle);
+
+  // A server that does not follow the action protocol can send any int8_t as a status.
+  const int8_t out_of_range_status = 42;
+  ActionStatusMessage status_message;
+  rclcpp_action::GoalStatus goal_status;
+  goal_status.goal_info.goal_id.uuid = goal_handle->get_goal_id();
+  goal_status.status = out_of_range_status;
+  status_message.status_list.push_back(goal_status);
+  status_publisher->publish(status_message);
+
+  const auto deadline = std::chrono::steady_clock::now() + std::chrono::seconds(5);
+  while (goal_handle->get_status() != out_of_range_status &&
+    std::chrono::steady_clock::now() < deadline)
+  {
+    client_executor.spin_some();
+  }
+  ASSERT_EQ(out_of_range_status, goal_handle->get_status());
+  EXPECT_THROW(
+    goal_handle->get_status_code(), rclcpp_action::exceptions::InvalidGoalStatusError);
+}
+RCPPUTILS_DEPRECATION_WARNING_OFF_STOP
+
 TEST_F(TestGenericClientAgainstServer, async_send_goal_with_goal_response_callback_wait_for_result)
 {
   auto action_generic_client = rclcpp_action::create_generic_client(
@@ -636,7 +677,7 @@ TEST_F(TestGenericClientAgainstServer, async_send_goal_with_goal_response_callba
     dual_spin_until_future_complete(future_goal_handle);
     auto goal_handle = future_goal_handle.get();
     EXPECT_TRUE(goal_response_received);
-    EXPECT_EQ(rclcpp_action::GoalStatus::STATUS_ACCEPTED, goal_handle->get_status());
+    EXPECT_EQ(rclcpp_action::GoalStatusCode::ACCEPTED, goal_handle->get_status_code());
     EXPECT_FALSE(goal_handle->is_feedback_aware());
     EXPECT_FALSE(goal_handle->is_result_aware());
     auto future_result = action_generic_client->async_get_result(goal_handle);
@@ -673,7 +714,7 @@ TEST_F(TestGenericClientAgainstServer, async_send_goal_with_feedback_callback_wa
     action_generic_client->async_send_goal(&goal, sizeof(goal), send_goal_ops);
   dual_spin_until_future_complete(future_goal_handle);
   auto goal_handle = future_goal_handle.get();
-  EXPECT_EQ(rclcpp_action::GoalStatus::STATUS_ACCEPTED, goal_handle->get_status());
+  EXPECT_EQ(rclcpp_action::GoalStatusCode::ACCEPTED, goal_handle->get_status_code());
   EXPECT_TRUE(goal_handle->is_feedback_aware());
   EXPECT_FALSE(goal_handle->is_result_aware());
   auto future_result = action_generic_client->async_get_result(goal_handle);
@@ -713,7 +754,7 @@ TEST_F(TestGenericClientAgainstServer, async_send_goal_with_result_callback_wait
     action_generic_client->async_send_goal(&goal, sizeof(goal), send_goal_ops);
   dual_spin_until_future_complete(future_goal_handle);
   auto goal_handle = future_goal_handle.get();
-  EXPECT_EQ(rclcpp_action::GoalStatus::STATUS_ACCEPTED, goal_handle->get_status());
+  EXPECT_EQ(rclcpp_action::GoalStatusCode::ACCEPTED, goal_handle->get_status_code());
   EXPECT_FALSE(goal_handle->is_feedback_aware());
   EXPECT_TRUE(goal_handle->is_result_aware());
   auto future_result = action_generic_client->async_get_result(goal_handle);
@@ -739,7 +780,7 @@ TEST_F(TestGenericClientAgainstServer, async_get_result_with_callback)
   dual_spin_until_future_complete(future_goal_handle);
   auto goal_handle = future_goal_handle.get();
   EXPECT_NE(goal_handle, nullptr);
-  EXPECT_EQ(rclcpp_action::GoalStatus::STATUS_ACCEPTED, goal_handle->get_status());
+  EXPECT_EQ(rclcpp_action::GoalStatusCode::ACCEPTED, goal_handle->get_status_code());
   EXPECT_FALSE(goal_handle->is_feedback_aware());
   EXPECT_FALSE(goal_handle->is_result_aware());
   bool result_callback_received = false;
@@ -776,7 +817,7 @@ TEST_F(TestGenericClientAgainstServer, async_cancel_one_goal)
   auto future_goal_handle = action_generic_client->async_send_goal(&goal, sizeof(goal));
   dual_spin_until_future_complete(future_goal_handle);
   auto goal_handle = future_goal_handle.get();
-  EXPECT_EQ(rclcpp_action::GoalStatus::STATUS_ACCEPTED, goal_handle->get_status());
+  EXPECT_EQ(rclcpp_action::GoalStatusCode::ACCEPTED, goal_handle->get_status_code());
 
   auto future_cancel = action_generic_client->async_cancel_goal(goal_handle);
   dual_spin_until_future_complete(future_cancel);
@@ -797,7 +838,7 @@ TEST_F(TestGenericClientAgainstServer, async_cancel_one_goal_with_callback)
   auto future_goal_handle = action_generic_client->async_send_goal(&goal, sizeof(goal));
   dual_spin_until_future_complete(future_goal_handle);
   auto goal_handle = future_goal_handle.get();
-  EXPECT_EQ(rclcpp_action::GoalStatus::STATUS_ACCEPTED, goal_handle->get_status());
+  EXPECT_EQ(rclcpp_action::GoalStatusCode::ACCEPTED, goal_handle->get_status_code());
 
   bool cancel_response_received = false;
   auto future_cancel = action_generic_client->async_cancel_goal(
@@ -856,8 +897,8 @@ TEST_F(TestGenericClientAgainstServer, async_cancel_all_goals)
   ASSERT_EQ(2ul, cancel_response->goals_canceling.size());
   EXPECT_EQ(goal_handle0->get_goal_id(), cancel_response->goals_canceling[0].goal_id.uuid);
   EXPECT_EQ(goal_handle1->get_goal_id(), cancel_response->goals_canceling[1].goal_id.uuid);
-  EXPECT_EQ(rclcpp_action::GoalStatus::STATUS_CANCELED, goal_handle0->get_status());
-  EXPECT_EQ(rclcpp_action::GoalStatus::STATUS_CANCELED, goal_handle1->get_status());
+  EXPECT_EQ(rclcpp_action::GoalStatusCode::CANCELED, goal_handle0->get_status_code());
+  EXPECT_EQ(rclcpp_action::GoalStatusCode::CANCELED, goal_handle1->get_status_code());
 }
 
 TEST_F(TestGenericClientAgainstServer, async_cancel_all_goals_with_callback)
@@ -909,8 +950,8 @@ TEST_F(TestGenericClientAgainstServer, async_cancel_all_goals_with_callback)
   ASSERT_EQ(2ul, cancel_response->goals_canceling.size());
   EXPECT_EQ(goal_handle0->get_goal_id(), cancel_response->goals_canceling[0].goal_id.uuid);
   EXPECT_EQ(goal_handle1->get_goal_id(), cancel_response->goals_canceling[1].goal_id.uuid);
-  EXPECT_EQ(rclcpp_action::GoalStatus::STATUS_CANCELED, goal_handle0->get_status());
-  EXPECT_EQ(rclcpp_action::GoalStatus::STATUS_CANCELED, goal_handle1->get_status());
+  EXPECT_EQ(rclcpp_action::GoalStatusCode::CANCELED, goal_handle0->get_status_code());
+  EXPECT_EQ(rclcpp_action::GoalStatusCode::CANCELED, goal_handle1->get_status_code());
 }
 
 TEST_F(TestGenericClientAgainstServer, async_cancel_some_goals)
@@ -944,7 +985,7 @@ TEST_F(TestGenericClientAgainstServer, async_cancel_some_goals)
   EXPECT_EQ(ActionCancelGoalResponse::ERROR_NONE, cancel_response->return_code);
   ASSERT_EQ(1ul, cancel_response->goals_canceling.size());
   EXPECT_EQ(goal_handle0->get_goal_id(), cancel_response->goals_canceling[0].goal_id.uuid);
-  EXPECT_EQ(rclcpp_action::GoalStatus::STATUS_CANCELED, goal_handle0->get_status());
+  EXPECT_EQ(rclcpp_action::GoalStatusCode::CANCELED, goal_handle0->get_status_code());
 }
 
 TEST_F(TestGenericClientAgainstServer, async_cancel_some_goals_with_callback)
@@ -990,7 +1031,7 @@ TEST_F(TestGenericClientAgainstServer, async_cancel_some_goals_with_callback)
   EXPECT_TRUE(cancel_callback_received);
   ASSERT_EQ(1ul, cancel_response->goals_canceling.size());
   EXPECT_EQ(goal_handle0->get_goal_id(), cancel_response->goals_canceling[0].goal_id.uuid);
-  EXPECT_EQ(rclcpp_action::GoalStatus::STATUS_CANCELED, goal_handle0->get_status());
+  EXPECT_EQ(rclcpp_action::GoalStatusCode::CANCELED, goal_handle0->get_status_code());
 }
 
 TEST_F(TestGenericClientAgainstServer, deadlock_in_callbacks)
@@ -1015,7 +1056,7 @@ TEST_F(TestGenericClientAgainstServer, deadlock_in_callbacks)
         typename rclcpp_action::GenericClientGoalHandle::SharedPtr handle, const void *)
       {
         // call functions on the handle that acquire the lock
-        handle->get_status();
+        handle->get_status_code();
         handle->is_feedback_aware();
         handle->is_result_aware();
 
@@ -1024,7 +1065,7 @@ TEST_F(TestGenericClientAgainstServer, deadlock_in_callbacks)
       ops.goal_response_callback = [&response_callback_called](
         const rclcpp_action::GenericClientGoalHandle::SharedPtr & handle) {
         // call functions on the handle that acquire the lock
-        handle->get_status();
+        handle->get_status_code();
         handle->is_feedback_aware();
         handle->is_result_aware();
 
@@ -1105,7 +1146,7 @@ TEST_F(TestGenericClientAgainstServer, send_rcl_errors)
       action_generic_client->async_send_goal(&goal, sizeof(goal), send_goal_ops);
     dual_spin_until_future_complete(future_goal_handle);
     auto goal_handle = future_goal_handle.get();
-    EXPECT_EQ(rclcpp_action::GoalStatus::STATUS_UNKNOWN, goal_handle->get_status());
+    EXPECT_EQ(rclcpp_action::GoalStatusCode::UNKNOWN, goal_handle->get_status_code());
   }
   {
     ActionGoal goal;
@@ -1244,7 +1285,7 @@ TEST_F(TestGenericClientAgainstServer,
   for (auto & future_goal_handle : goal_handle_futures) {
     dual_spin_until_future_complete(future_goal_handle);
     auto goal_handle = future_goal_handle.get();
-    EXPECT_EQ(rclcpp_action::GoalStatus::STATUS_ACCEPTED, goal_handle->get_status());
+    EXPECT_EQ(rclcpp_action::GoalStatusCode::ACCEPTED, goal_handle->get_status_code());
     EXPECT_TRUE(goal_handle->is_feedback_aware());
     EXPECT_FALSE(goal_handle->is_result_aware());
     goal_handles.push_back(goal_handle);
@@ -1333,7 +1374,7 @@ TEST_F(TestGenericClientAgainstServer,
   for (auto & future_goal_handle : goal_handle_futures) {
     dual_spin_until_future_complete(future_goal_handle);
     auto goal_handle = future_goal_handle.get();
-    EXPECT_EQ(rclcpp_action::GoalStatus::STATUS_ACCEPTED, goal_handle->get_status());
+    EXPECT_EQ(rclcpp_action::GoalStatusCode::ACCEPTED, goal_handle->get_status_code());
     EXPECT_TRUE(goal_handle->is_feedback_aware());
     EXPECT_FALSE(goal_handle->is_result_aware());
     goal_handles.push_back(goal_handle);