diff --git a/doc/release/master/fix_logFowarder_lost_msgs_v2.md b/doc/release/master/fix_logFowarder_lost_msgs_v2.md
new file mode 100644
index 00000000000..4c81ef8e0a8
--- /dev/null
+++ b/doc/release/master/fix_logFowarder_lost_msgs_v2.md
@@ -0,0 +1,10 @@
+fix_logForwarder_lost_msgs_v2 {#master}
+-----------------------
+
+## Libraries
+
+### `os`
+
+#### `Log`
+
+* LogForwarder: now using a separated thread (`class ThreadedPort`) to prevent the loss of log messages during stress condition
\ No newline at end of file
diff --git a/src/libYARP_os/src/yarp/os/impl/LogForwarder.cpp b/src/libYARP_os/src/yarp/os/impl/LogForwarder.cpp
index 8d5e0c533d8..9a3d5552c5b 100644
--- a/src/libYARP_os/src/yarp/os/impl/LogForwarder.cpp
+++ b/src/libYARP_os/src/yarp/os/impl/LogForwarder.cpp
@@ -19,6 +19,64 @@
 
 bool yarp::os::impl::LogForwarder::started{false};
 
+yarp::os::impl::ThreadedPort::ThreadedPort() : yarp::os::PeriodicThread(0.005)
+{
+    this->start();
+}
+
+void yarp::os::impl::ThreadedPort::ThreadedPort::run()
+{
+    size_t size=0;
+    do
+    {
+        mut.lock();
+        size = messages.size();
+        mut.unlock();
+        if (size > 0 && m_port) { process(); }
+        else {break;}
+    } while (1);
+}
+
+void yarp::os::impl::ThreadedPort::process()
+{
+    yarp::os::Bottle& b = m_port->prepare();
+    mut.lock();
+    b = messages.back();
+    messages.pop_back();
+    mut.unlock();
+    m_port->write(true);
+}
+
+void yarp::os::impl::ThreadedPort::attach(yarp::os::BufferedPort<yarp::os::Bottle>* port)
+{
+    m_port = port;
+}
+
+void yarp::os::impl::ThreadedPort::terminate()
+{
+    this->stop();
+    m_port = nullptr;
+}
+
+void yarp::os::impl::ThreadedPort::insert(const yarp::os::Bottle& bot)
+{
+#if 0
+    //if this is enabled, the bottle is sent immediately
+    yarp::os::Bottle& b = m_port->prepare();
+    mut.lock();
+    b = bot;
+    mut.unlock();
+    m_port->write(true);
+#else
+    //if this is enabled, the bottle is sent in a queue and the thread will send it later
+    mut.lock();
+    messages.push_front(bot);
+    mut.unlock();
+#endif
+}
+
+///---------------------------------------------------------------------
+
 yarp::os::impl::LogForwarder& yarp::os::impl::LogForwarder::getInstance()
 {
     static LogForwarder instance;
@@ -46,22 +104,21 @@ yarp::os::impl::LogForwarder::LogForwarder()
     if (!outputPort.open(logPortName)) {
         printf("LogForwarder error while opening port %s\n", logPortName.c_str());
     }
-    outputPort.enableBackgroundWrite(true);
+
     outputPort.addOutput("/yarplogger", "fast_tcp");
+    tport.attach(&outputPort);
 
     started = true;
 }
 
 void yarp::os::impl::LogForwarder::forward(const std::string& message)
 {
-    mutex.lock();
-    static Bottle b;
+    yarp::os::Bottle b;
     b.clear();
     std::string port = "[" + outputPort.getName() + "]";
     b.addString(port);
     b.addString(message);
-    outputPort.write(b);
-    mutex.unlock();
+    tport.insert(b);
 }
 
 void yarp::os::impl::LogForwarder::shutdown()
@@ -80,6 +137,8 @@ void yarp::os::impl::LogForwarder::shutdown()
         while (fw.outputPort.isWriting()) {
             yarp::os::SystemClock::delaySystem(0.2);
         }
+
+        fw.tport.terminate();
         fw.outputPort.interrupt();
         fw.outputPort.close();
     }
diff --git a/src/libYARP_os/src/yarp/os/impl/LogForwarder.h b/src/libYARP_os/src/yarp/os/impl/LogForwarder.h
index dd9f8ef3895..a4fbbd46a2e 100644
--- a/src/libYARP_os/src/yarp/os/impl/LogForwarder.h
+++ b/src/libYARP_os/src/yarp/os/impl/LogForwarder.h
@@ -9,12 +9,36 @@
 #include <yarp/os/api.h>
 
 #include <yarp/os/Port.h>
+#include <yarp/os/PortWriterBuffer.h>
 
 #include <mutex>
 #include <string>
+#include <yarp/os/PeriodicThread.h>
+
+#include <yarp/os/BufferedPort.h>
+#include <list>
 
 namespace yarp::os::impl {
 
+class ThreadedPort : public yarp::os::PeriodicThread
+{
+    std::mutex mut;
+    yarp::os::BufferedPort<yarp::os::Bottle>* m_port = nullptr;
+    std::list<yarp::os::Bottle> messages;
+
+    void process();
+
+public:
+    void run() override;
+    void attach(yarp::os::BufferedPort<yarp::os::Bottle>* port);
+    void insert(const yarp::os::Bottle& bot);
+    void terminate();
+public:
+    ThreadedPort();
+};
+
+//----------------------------------------------------------------
+
 class YARP_os_impl_API LogForwarder
 {
 public:
@@ -29,8 +53,8 @@ class YARP_os_impl_API LogForwarder
     LogForwarder(LogForwarder const&) = delete;
     LogForwarder& operator=(LogForwarder const&) = delete;
 
-    std::mutex mutex;
-    yarp::os::Port outputPort;
+    ThreadedPort   tport;
+    yarp::os::BufferedPort<yarp::os::Bottle> outputPort;
     static bool started;
 };