diff --git a/rosidl_generator_py/package.xml b/rosidl_generator_py/package.xml
index 62bdb6c7..59f9535b 100644
--- a/rosidl_generator_py/package.xml
+++ b/rosidl_generator_py/package.xml
@@ -26,6 +26,7 @@
   <exec_depend>rosidl_generator_c</exec_depend>
   <exec_depend>rosidl_parser</exec_depend>
   <exec_depend>rosidl_runtime_c</exec_depend>
+  <exec_depend>rpyutils</exec_depend>
 
   <test_depend>ament_cmake_pytest</test_depend>
   <test_depend>ament_index_python</test_depend>
diff --git a/rosidl_generator_py/rosidl_generator_py/import_type_support_impl.py b/rosidl_generator_py/rosidl_generator_py/import_type_support_impl.py
index 86062700..c16b0fb2 100644
--- a/rosidl_generator_py/rosidl_generator_py/import_type_support_impl.py
+++ b/rosidl_generator_py/rosidl_generator_py/import_type_support_impl.py
@@ -14,6 +14,8 @@
 
 import importlib
 
+from rpyutils import add_dll_directories_from_env
+
 
 class UnsupportedTypeSupport(Exception):
     """Raised when typesupport couldn't be imported."""
@@ -37,6 +39,10 @@ def import_type_support(pkg_name):
     """
     module_name = '.{}_s__rosidl_typesupport_c'.format(pkg_name)
     try:
-        return importlib.import_module(module_name, package=pkg_name)
+        # Since Python 3.8, on Windows we should ensure DLL directories are explicitly added
+        # to the search path.
+        # See https://docs.python.org/3/whatsnew/3.8.html#bpo-36085-whatsnew
+        with add_dll_directories_from_env('PATH'):
+            return importlib.import_module(module_name, package=pkg_name)
     except ImportError:
         raise UnsupportedTypeSupport(pkg_name)