diff --git a/CHANGELOG.md b/CHANGELOG.md
index 6de8a9c2c..74a8b042a 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -11,6 +11,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ### Added
 - ESP32-C6: LP core clock is configurable (#907)
+- Derive `Clone` and `Copy` for `EspTwaiFrame` (#914)
 
 ### Changed
 
diff --git a/esp-hal-common/src/twai/mod.rs b/esp-hal-common/src/twai/mod.rs
index a3279634f..0db9284ec 100644
--- a/esp-hal-common/src/twai/mod.rs
+++ b/esp-hal-common/src/twai/mod.rs
@@ -93,7 +93,7 @@ use crate::{
 pub mod filter;
 
 /// Structure backing the embedded_hal::can::Frame/embedded_can::Frame trait.
-#[derive(Debug)]
+#[derive(Clone, Copy, Debug)]
 pub struct EspTwaiFrame {
     id: Id,
     dlc: usize,