diff --git a/pkg/format/rtpac3/decoder.go b/pkg/format/rtpac3/decoder.go
index 174bdc11..45f73bdd 100644
--- a/pkg/format/rtpac3/decoder.go
+++ b/pkg/format/rtpac3/decoder.go
@@ -35,6 +35,7 @@ type Decoder struct {
 	fragments           [][]byte
 	fragmentsSize       int
 	fragmentsExpected   int
+	fragmentNextSeqNum  uint16
 }
 
 // Init initializes the decoder.
@@ -106,6 +107,7 @@ func (d *Decoder) Decode(pkt *rtp.Packet) ([][]byte, error) {
 		d.fragmentsSize = le
 		d.fragmentsExpected = size - le
 		d.fragments = append(d.fragments, pkt.Payload[2:])
+		d.fragmentNextSeqNum = pkt.SequenceNumber + 1
 		d.firstPacketReceived = true
 
 		return nil, ErrMorePacketsNeeded
@@ -118,6 +120,11 @@ func (d *Decoder) Decode(pkt *rtp.Packet) ([][]byte, error) {
 			return nil, fmt.Errorf("received a subsequent fragment without previous fragments")
 		}
 
+		if pkt.SequenceNumber != d.fragmentNextSeqNum {
+			d.resetFragments()
+			return nil, fmt.Errorf("discarding frame since a RTP packet is missing")
+		}
+
 		le := len(pkt.Payload[2:])
 		d.fragmentsSize += le
 		d.fragmentsExpected -= le
@@ -128,6 +135,7 @@ func (d *Decoder) Decode(pkt *rtp.Packet) ([][]byte, error) {
 		}
 
 		d.fragments = append(d.fragments, pkt.Payload[2:])
+		d.fragmentNextSeqNum++
 
 		if d.fragmentsExpected > 0 {
 			return nil, ErrMorePacketsNeeded
diff --git a/pkg/format/rtpac3/decoder_test.go b/pkg/format/rtpac3/decoder_test.go
index 4121b654..d3bb6116 100644
--- a/pkg/format/rtpac3/decoder_test.go
+++ b/pkg/format/rtpac3/decoder_test.go
@@ -38,6 +38,40 @@ func TestDecode(t *testing.T) {
 	}
 }
 
+func TestDecodeErrorMissingPacket(t *testing.T) {
+	d := &Decoder{}
+	err := d.Init()
+	require.NoError(t, err)
+
+	_, err = d.Decode(&rtp.Packet{
+		Header: rtp.Header{
+			Version:        2,
+			Marker:         false,
+			PayloadType:    96,
+			SequenceNumber: 17645,
+			SSRC:           0x9dbb7812,
+		},
+		Payload: []byte{
+			0x01, 0x02, 0x0b, 0x77, 0x1a, 0x01, 0x1e, 0x40,
+		},
+	})
+	require.Equal(t, ErrMorePacketsNeeded, err)
+
+	_, err = d.Decode(&rtp.Packet{
+		Header: rtp.Header{
+			Version:        2,
+			Marker:         false,
+			PayloadType:    96,
+			SequenceNumber: 17647,
+			SSRC:           0x9dbb7812,
+		},
+		Payload: []byte{
+			0x03, 0x02, 0x72, 0xdc, 0x06, 0x7d, 0x2d, 0xe5,
+		},
+	})
+	require.EqualError(t, err, "discarding frame since a RTP packet is missing")
+}
+
 func FuzzDecoder(f *testing.F) {
 	f.Fuzz(func(t *testing.T, a []byte, am bool, b []byte, bm bool) {
 		d := &Decoder{}
diff --git a/pkg/format/rtpav1/decoder.go b/pkg/format/rtpav1/decoder.go
index 1c7ae561..fb7d47a8 100644
--- a/pkg/format/rtpav1/decoder.go
+++ b/pkg/format/rtpav1/decoder.go
@@ -32,8 +32,9 @@ func joinFragments(fragments [][]byte, size int) []byte {
 // Specification: https://aomediacodec.github.io/av1-rtp-spec/
 type Decoder struct {
 	firstPacketReceived bool
-	fragmentsSize       int
 	fragments           [][]byte
+	fragmentsSize       int
+	fragmentNextSeqNum  uint16
 
 	// for Decode()
 	frameBuffer     [][]byte
@@ -68,14 +69,21 @@ func (d *Decoder) decodeOBUs(pkt *rtp.Packet) ([][]byte, error) {
 			return nil, fmt.Errorf("received a subsequent fragment without previous fragments")
 		}
 
+		if pkt.SequenceNumber != d.fragmentNextSeqNum {
+			d.resetFragments()
+			return nil, fmt.Errorf("discarding frame since a RTP packet is missing")
+		}
+
 		d.fragmentsSize += len(av1header.OBUElements[0])
+
 		if d.fragmentsSize > av1.MaxTemporalUnitSize {
 			d.resetFragments()
-			return nil, fmt.Errorf("OBU size (%d) is too big, maximum is %d", d.fragmentsSize, av1.MaxTemporalUnitSize)
+			return nil, fmt.Errorf("temporal unit size (%d) is too big, maximum is %d", d.fragmentsSize, av1.MaxTemporalUnitSize)
 		}
 
 		d.fragments = append(d.fragments, av1header.OBUElements[0])
 		av1header.OBUElements = av1header.OBUElements[1:]
+		d.fragmentNextSeqNum++
 	}
 
 	d.firstPacketReceived = true
@@ -95,11 +103,12 @@ func (d *Decoder) decodeOBUs(pkt *rtp.Packet) ([][]byte, error) {
 
 			if d.fragmentsSize > av1.MaxTemporalUnitSize {
 				d.resetFragments()
-				return nil, fmt.Errorf("OBU size (%d) is too big, maximum is %d", d.fragmentsSize, av1.MaxTemporalUnitSize)
+				return nil, fmt.Errorf("temporal unit size (%d) is too big, maximum is %d", d.fragmentsSize, av1.MaxTemporalUnitSize)
 			}
 
 			d.fragments = append(d.fragments, av1header.OBUElements[elementCount-1])
 			av1header.OBUElements = av1header.OBUElements[:elementCount-1]
+			d.fragmentNextSeqNum = pkt.SequenceNumber + 1
 		}
 
 		obus = append(obus, av1header.OBUElements...)
diff --git a/pkg/format/rtpav1/decoder_test.go b/pkg/format/rtpav1/decoder_test.go
index 7c2a2343..d1387aef 100644
--- a/pkg/format/rtpav1/decoder_test.go
+++ b/pkg/format/rtpav1/decoder_test.go
@@ -55,6 +55,245 @@ func TestDecoderErrorLimit(t *testing.T) {
 	require.EqualError(t, err, "OBU count exceeds maximum allowed (10)")
 }
 
+func TestDecodeErrorMissingPacket(t *testing.T) {
+	d := &Decoder{}
+	err := d.Init()
+	require.NoError(t, err)
+
+	_, err = d.Decode(&rtp.Packet{
+		Header: rtp.Header{
+			Version:        2,
+			Marker:         false,
+			PayloadType:    96,
+			SequenceNumber: 17645,
+			SSRC:           0x9dbb7812,
+		},
+		Payload: []byte{
+			0x40, 0xb1, 0x0b, 0x30, 0x30, 0xca, 0x08, 0x12,
+			0xfd, 0xfd, 0x78, 0x89, 0xe5, 0x3e, 0xa3, 0x80,
+			0x08, 0x20, 0x82, 0x08, 0x54, 0x50, 0x00, 0x30,
+			0x00, 0x00, 0x66, 0x00, 0xeb, 0xcd, 0xc5, 0x72,
+			0x25, 0x5a, 0x0a, 0xc3, 0x4a, 0x43, 0x15, 0x59,
+			0x13, 0x5f, 0xb9, 0x39, 0x19, 0xf1, 0xca, 0x26,
+			0xc7, 0x59, 0xa7, 0x66, 0xe4, 0xa5, 0xff, 0x3a,
+			0xba, 0x3f, 0x62, 0xfc, 0x58, 0x07, 0xd0, 0x18,
+			0xd6, 0xb2, 0x90, 0x72, 0xf4, 0x57, 0xbd, 0x5d,
+			0x72, 0x92, 0x8c, 0x71, 0x48, 0x17, 0x89, 0x65,
+			0xa9, 0x9e, 0xa2, 0x81, 0x9a, 0x83, 0x66, 0x11,
+			0xd7, 0xe7, 0x41, 0x35, 0xb7, 0x8a, 0xb3, 0xd0,
+			0x90, 0x54, 0x2a, 0x48, 0xea, 0x65, 0xd1, 0xb0,
+			0x83, 0xda, 0xbb, 0x61, 0xff, 0xc4, 0xd0, 0x06,
+			0x78, 0x35, 0xc2, 0xf7, 0x15, 0x16, 0xe5, 0xc3,
+			0xf0, 0x9f, 0x7f, 0x1a, 0xd6, 0xad, 0xd4, 0x41,
+			0xa4, 0xf4, 0x40, 0x41, 0x00, 0x78, 0x5c, 0x14,
+			0x08, 0x57, 0x3d, 0x96, 0xc2, 0x0b, 0xb5, 0x03,
+			0xce, 0x7d, 0xe6, 0x50, 0xd1, 0xbc, 0x3e, 0x1e,
+			0x84, 0x62, 0x1a, 0xd1, 0xfe, 0x52, 0x9e, 0x79,
+			0x26, 0x51, 0xc8, 0x14, 0x54, 0xf2, 0x77, 0xe6,
+			0x25, 0x0f, 0x5f, 0xec, 0x66, 0x33, 0xdb, 0xd0,
+			0x9f, 0x5a, 0xf9, 0xbc, 0xc4, 0x9b, 0x31, 0x8c,
+			0x6f, 0xe6, 0x2a, 0x50, 0x65, 0x1d, 0x45, 0xaf,
+			0x19, 0xd4, 0xde, 0xf8, 0x33, 0x43, 0x48, 0x57,
+			0x00, 0x80, 0x5b, 0xaa, 0x3e, 0x1b, 0xf7, 0x21,
+			0xc1, 0x56, 0x5e, 0xfb, 0xdb, 0x43, 0xa8, 0x7b,
+			0xde, 0x82, 0xc1, 0x45, 0x5a, 0x36, 0x04, 0x20,
+			0xa8, 0xa3, 0x0b, 0xa9, 0xa8, 0x6d, 0xe1, 0xfd,
+			0x13, 0x0d, 0x38, 0xef, 0x00, 0xd5, 0x00, 0xe5,
+			0x2d, 0x69, 0x67, 0x17, 0x59, 0xd9, 0xda, 0x61,
+			0x95, 0xac, 0x55, 0x3a, 0xc5, 0x77, 0x1e, 0xbe,
+			0xa5, 0x58, 0x7a, 0xbb, 0x09, 0xbd, 0x46, 0xab,
+			0x82, 0x60, 0x13, 0x8f, 0x8b, 0xfb, 0x29, 0xe0,
+			0x7f, 0xa5, 0xca, 0x25, 0xfa, 0x77, 0x07, 0x88,
+			0x51, 0xdb, 0xc2, 0x99, 0x5f, 0xad, 0xe1, 0x45,
+			0x28, 0x0e, 0x00, 0x86, 0x79, 0x60, 0xe2, 0x36,
+			0x9a, 0x41, 0x21, 0x01, 0xdf, 0x3d, 0x0c, 0x31,
+			0x37, 0xa4, 0x0b, 0x00, 0xe6, 0x43, 0xfb, 0x28,
+			0x05, 0x2c, 0xff, 0x40, 0x1c, 0x23, 0x6d, 0x4f,
+			0x58, 0x00, 0xe1, 0xc4, 0xb2, 0x05, 0x3a, 0x03,
+			0xa4, 0xde, 0xf4, 0x13, 0x5e, 0x8c, 0x45, 0xc2,
+			0x3b, 0xf0, 0x2c, 0x00, 0x28, 0x0b, 0xe2, 0x7d,
+			0xa4, 0x27, 0x78, 0xf0, 0xfa, 0x3f, 0x0a, 0xa9,
+			0xac, 0x20, 0xa0, 0xe2, 0x33, 0xe8, 0xc6, 0xa7,
+			0x69, 0x6f, 0x4c, 0xec, 0x67, 0x06, 0x79, 0x27,
+			0x1d, 0x69, 0xe3, 0xa6, 0xad, 0x6e, 0x63, 0x97,
+			0xd2, 0xe3, 0xaa, 0xd4, 0xc5, 0x6d, 0xaa, 0x29,
+			0xfa, 0xc3, 0x4b, 0x23, 0xec, 0xe7, 0x5f, 0xdd,
+			0xf8, 0x45, 0x55, 0x62, 0xec, 0x3c, 0xe8, 0x73,
+			0xf0, 0x63, 0x04, 0x6f, 0x88, 0xa7, 0x4d, 0x7c,
+			0x28, 0xef, 0x20, 0x0d, 0x00, 0xf9, 0xba, 0xe5,
+			0x09, 0x5d, 0xc2, 0x8d, 0x7d, 0x18, 0x2c, 0x2f,
+			0xff, 0x93, 0x88, 0x2d, 0x00, 0xf9, 0xaf, 0x22,
+			0x68, 0x70, 0x72, 0xe4, 0x36, 0x22, 0x15, 0x5f,
+			0x7a, 0xef, 0xd9, 0x03, 0x25, 0xf5, 0x17, 0x68,
+			0x30, 0xee, 0x2b, 0xed, 0xe8, 0x0c, 0x1a, 0x32,
+			0x72, 0x62, 0xd4, 0x74, 0x69, 0xf1, 0x9a, 0xcf,
+			0x9b, 0x52, 0xfc, 0x56, 0xe3, 0xda, 0x73, 0x09,
+			0x33, 0x95, 0x08, 0x77, 0x00, 0x09, 0x17, 0x4d,
+			0xb7, 0xc4, 0x32, 0xcd, 0xf9, 0x33, 0x7f, 0x78,
+			0x44, 0x33, 0xf3, 0x94, 0x5d, 0x74, 0x14, 0x53,
+			0x3e, 0xc1, 0xa6, 0x62, 0x3a, 0x94, 0x41, 0xc9,
+			0x4d, 0x05, 0x87, 0x7d, 0x92, 0xd9, 0x12, 0xb4,
+			0x9a, 0x1f, 0x43, 0xf4, 0x54, 0x0c, 0xb4, 0x6c,
+			0xd0, 0x16, 0xd7, 0x46, 0xe2, 0x5e, 0xdc, 0x56,
+			0xff, 0x42, 0x72, 0xe4, 0x97, 0x8f, 0xdb, 0x2f,
+			0x27, 0xbd, 0x4c, 0xa3, 0x4e, 0x43, 0x4a, 0x0b,
+			0x46, 0x45, 0x36, 0x80, 0x0d, 0xd4, 0x87, 0xc7,
+			0x1a, 0xf8, 0x5f, 0x9c, 0xf4, 0x10, 0x82, 0xa8,
+			0x28, 0xa7, 0xd1, 0xbf, 0xc1, 0x61, 0x5a, 0x73,
+			0xbd, 0xe9, 0x44, 0x66, 0x5a, 0x2b, 0x14, 0x4c,
+			0xa5, 0x5d, 0x3d, 0x38, 0xfb, 0xd4, 0xa8, 0x24,
+			0xbe, 0xe4, 0x99, 0xa1, 0x98, 0x90, 0x72, 0x67,
+			0x1f, 0x3b, 0x96, 0xae, 0x60, 0x7a, 0x00, 0xf2,
+			0x11, 0x13, 0x9f, 0xc4, 0xb5, 0x63, 0xd7, 0x63,
+			0xb6, 0x64, 0xe3, 0xbb, 0xf1, 0x96, 0x9e, 0x77,
+			0xab, 0xc4, 0xa8, 0x39, 0xd5, 0x22, 0xe9, 0xee,
+			0xad, 0x1f, 0x91, 0xff, 0x56, 0x3e, 0x68, 0x89,
+			0x63, 0x11, 0xc8, 0x98, 0xa1, 0x7e, 0xd9, 0x37,
+			0xb2, 0x94, 0x23, 0xfb, 0x67, 0xb7, 0xa0, 0xaa,
+			0x0f, 0xe7, 0xb6, 0xe1, 0xb8, 0xc3, 0x73, 0xe3,
+			0xae, 0x07, 0xe6, 0xf7, 0xc8, 0x35, 0x03, 0xc5,
+			0x7a, 0xfc, 0x48, 0xd4, 0xe2, 0x61, 0x7a, 0x22,
+			0xdd, 0x78, 0x4b, 0xef, 0xa4, 0xde, 0x27, 0x62,
+			0xdd, 0xa1, 0x76, 0xe5, 0xeb, 0x83, 0xa3, 0x18,
+			0xde, 0xe9, 0x99, 0x37, 0x66, 0x34, 0x20, 0xaf,
+			0x67, 0x2b, 0xdd, 0xa4, 0x69, 0xeb, 0x7d, 0x71,
+			0x0f, 0x24, 0xef, 0x88, 0x49, 0x8c, 0xe5, 0x33,
+			0xfa, 0xf3, 0x3e, 0xff, 0x46, 0x10, 0x5d, 0x25,
+			0x97, 0x7f, 0x8e, 0x00, 0xe2, 0x08, 0x0e, 0x39,
+			0x65, 0x4c, 0xa5, 0x1b, 0x5f, 0x5a, 0xa8, 0xab,
+			0xb1, 0x4a, 0x55, 0xf0, 0x41, 0x9e, 0xf5, 0xcd,
+			0x2c, 0x34, 0x56, 0x11, 0xda, 0x96, 0x68, 0xe4,
+			0x39, 0x8d, 0xfe, 0x40, 0xb0, 0x0b, 0x05, 0x5d,
+			0xf4, 0xba, 0x27, 0x1a, 0x3b, 0xed, 0xee, 0x88,
+			0x07, 0x59, 0x40, 0xf6, 0x6f, 0x44, 0x1a, 0x5f,
+			0x3d, 0x42, 0xb2, 0xa7, 0x5d, 0x07, 0xd5, 0x7e,
+			0x95, 0x36, 0xc9, 0xa3, 0xd3, 0x45, 0x56, 0x70,
+			0x92, 0x79, 0xc9, 0xd7, 0xfd, 0x88, 0xa4, 0x89,
+			0x9a, 0x94, 0xbd, 0x9d, 0x49, 0xec, 0x32, 0xc4,
+			0xee, 0x87, 0xd7, 0x0a, 0xf8, 0xab, 0x23, 0x70,
+			0x3b, 0xbd, 0xd6, 0x34, 0x86, 0x3a, 0x05, 0x68,
+			0x95, 0x31, 0x81, 0x2d, 0x6d, 0xde, 0x54, 0xfe,
+			0x0b, 0xa9, 0x72, 0x3c, 0x78, 0xb7, 0xf5, 0x84,
+			0x67, 0x39, 0x4f, 0x2d, 0xbb, 0xcb, 0x22, 0x2d,
+			0xed, 0xf2, 0xc1, 0x56, 0xf8, 0x11, 0xf9, 0xee,
+			0x81, 0xd8, 0x64, 0x07, 0xbf, 0xb4, 0x69, 0xdb,
+			0xda, 0x0c, 0xf5, 0x20, 0x00, 0xf8, 0x26, 0x7b,
+			0x31, 0x54, 0x09, 0x24, 0xbf, 0x7c, 0xf5, 0xad,
+			0x76, 0xbb, 0xcc, 0x89, 0xee, 0x5b, 0x2a, 0x23,
+			0x12, 0x1c, 0x69, 0x50, 0xdd, 0x03, 0x0d, 0xe4,
+			0xca, 0xb8, 0x59, 0x7c, 0x91, 0xa0, 0x82, 0x00,
+			0x01, 0x9e, 0x1e, 0x4d, 0x87, 0xf7, 0xab, 0x3d,
+			0x06, 0x6c, 0x95, 0x90, 0x63, 0x57, 0x0f, 0x44,
+			0x4c, 0x49, 0x21, 0x2e, 0x85, 0x47, 0x61, 0x02,
+			0x67, 0x57, 0xdc, 0xde, 0x67, 0x92, 0x11, 0x34,
+			0x85, 0x05, 0x9e, 0x25, 0xe4, 0x1b, 0x8e, 0xaa,
+			0xca, 0xd9, 0x4c, 0x2c, 0x84, 0x30, 0xf1, 0xdc,
+			0x4a, 0x9b, 0x02, 0xdd, 0x69, 0x5e, 0xcd, 0x31,
+			0x08, 0x27, 0xd1, 0x83, 0xcd, 0x03, 0x4d, 0xd9,
+			0xf0, 0x0a, 0x69, 0x8e, 0x8b, 0x88, 0x14, 0x98,
+			0x37, 0x8c, 0xad, 0x93, 0x70, 0x04, 0xf8, 0x88,
+			0xa7, 0x67, 0xf0, 0xfe, 0xa9, 0x49, 0x46, 0xbe,
+			0xab, 0x14, 0x8c, 0x56, 0xea, 0x17, 0x52, 0x1f,
+			0x35, 0xfa, 0xd2, 0xd4, 0xa4, 0xf6, 0xb6, 0x72,
+			0x25, 0x03, 0xbf, 0xc1, 0x85, 0xe1, 0x3e, 0x3a,
+			0x19, 0xcb, 0xe3, 0x7e, 0x15, 0x65, 0xd1, 0x33,
+			0x40, 0x2a, 0xd8, 0x3f, 0x2c, 0x86, 0x12, 0x65,
+			0xe2, 0x60, 0x80, 0x1b, 0x01, 0x0b, 0xd2, 0xcd,
+			0x3b, 0x24, 0x56, 0x73, 0xcd, 0xa9, 0x34, 0xd1,
+			0x36, 0xd3, 0x26, 0x6f, 0x49, 0x58, 0xcf, 0xb7,
+			0x39, 0x92, 0xa8, 0x15, 0x47, 0x0f, 0x92, 0x68,
+			0x49, 0xa2, 0x91, 0xe0, 0x55, 0xc8, 0xd9, 0xf1,
+			0x84, 0xc4, 0x41, 0x67, 0xd9, 0x24, 0xf3, 0x0f,
+			0xdc, 0x3d, 0x6d, 0x79, 0x4d, 0x0f, 0x35, 0x8b,
+			0xdf, 0x6d, 0xcd, 0x66, 0x7e, 0x82, 0x09, 0xa3,
+			0x72, 0x1d, 0x3d, 0x4b, 0x0f, 0xad, 0x7c, 0xbe,
+			0xdd, 0x96, 0x17, 0x62, 0x26, 0x72, 0xe6, 0x1d,
+			0xb9, 0xf6, 0x9a, 0x71, 0x52, 0x5a, 0x76, 0xbb,
+			0x4e, 0x11, 0x78, 0xbe, 0x05, 0xe5, 0xf6, 0xaf,
+			0xf2, 0x66, 0xd3, 0xe5, 0xdb, 0xfc, 0xd8, 0x96,
+			0x64, 0x8b, 0x7a, 0xec, 0x9f, 0x3e, 0x0d, 0x7c,
+			0xd5, 0x20, 0xdf, 0x50, 0x52, 0x57, 0x93, 0xa0,
+			0x03, 0x5a, 0xed, 0x5c, 0xb4, 0xfa, 0x15, 0xf0,
+			0xda, 0xc4, 0x94, 0xbf, 0xcb, 0x25, 0xc7, 0xda,
+			0x59, 0x5d, 0xb8, 0x00, 0x00, 0x00, 0x56, 0x76,
+			0xe4, 0x62, 0x1c, 0x71, 0x70, 0xf6, 0x7f, 0x20,
+			0x83, 0xee, 0x17, 0x23, 0x56, 0x8c, 0x20, 0x9c,
+			0x65, 0x25, 0xe9, 0x38, 0xe2, 0xd2, 0x66, 0xae,
+			0xa1, 0x47, 0x16, 0xba, 0x5e, 0x87, 0xd4, 0x8b,
+			0x7e, 0x80, 0x9f, 0x83, 0x4b, 0x27, 0x46, 0x97,
+			0x72, 0x2b, 0x88, 0xd1, 0xf0, 0x92, 0xd4, 0x2a,
+			0x7e, 0x48, 0x63, 0x95, 0x33, 0x13, 0x07, 0xf8,
+			0x79, 0x3a, 0x6b, 0x67, 0x1c, 0x6f, 0x38, 0x80,
+			0x3c, 0xc6, 0xfa, 0xb8, 0x4e, 0xd2, 0x01, 0xaf,
+			0x79, 0x37, 0x60, 0xd6, 0x4d, 0x55, 0xcd, 0x1d,
+			0xf5, 0x15, 0x0f, 0xb7, 0x8c, 0xa5, 0xec, 0x25,
+			0xe4, 0x45, 0xec, 0xe6, 0xf9, 0xc2, 0x35, 0xea,
+			0xc6, 0x30, 0xa2, 0x1f, 0x21, 0x13, 0x1f, 0x97,
+			0x95, 0xee, 0x69, 0x63, 0xcf, 0x4b, 0xb2, 0xc3,
+			0xc0, 0x23, 0xc9, 0x75, 0x2b, 0xd6, 0xac, 0x3c,
+			0xcb, 0x38, 0x73, 0xa0, 0x5a, 0xa5, 0x7d, 0x3d,
+			0x23, 0xb1, 0x4c, 0xc9, 0x1b, 0x12, 0xc4, 0x83,
+			0xe1, 0x62, 0x61, 0xf3, 0x8c, 0x6a, 0x45, 0x95,
+			0xee, 0x74, 0x00, 0x2f, 0x84, 0x77, 0xff, 0x16,
+			0x22, 0x02, 0xfe, 0x4b, 0xd2, 0x57, 0x65, 0xee,
+			0x49, 0xcd, 0x7b, 0xb5, 0xdb, 0x8e, 0x5a, 0xcb,
+			0x70, 0x7f, 0x78, 0xbc, 0x35, 0x34, 0x3e, 0xcd,
+			0xf6, 0x24, 0x78, 0x8f, 0xe8, 0x9e, 0x5c, 0x9c,
+			0x22, 0x4a, 0xf0, 0xbc, 0x89, 0x64, 0x93, 0xcf,
+			0x20, 0xc8, 0xfd, 0x27, 0xe2, 0x36, 0x86, 0x00,
+			0x61, 0xe8, 0xe2, 0x9c, 0xad, 0x55, 0x98, 0x77,
+			0x2f, 0xfa, 0x28, 0xb4, 0xa7, 0xda, 0xa4, 0x14,
+			0x06, 0x8c, 0x7a, 0xd5, 0xdf, 0x0d, 0x32, 0x56,
+			0xcc, 0xd3, 0x70, 0x71, 0x70, 0xd5, 0xb6, 0x41,
+			0x0f, 0x45, 0xb2, 0xf0, 0x24, 0xa5, 0x23, 0x13,
+			0x70, 0x36, 0x07, 0xcd, 0xc6, 0x75, 0xd8, 0x62,
+			0x8c, 0x7f, 0xa7, 0xb9, 0x76, 0x16, 0xb3, 0x9a,
+			0x7e, 0x20, 0x27, 0x27, 0x2d, 0x33, 0x60, 0x70,
+			0xa5, 0xef, 0x5c, 0x9c, 0x6e, 0x5f, 0x2f, 0x20,
+			0x78, 0x58, 0x59, 0x92, 0x15, 0xfe, 0x13, 0x07,
+			0x87, 0xc7, 0x3e, 0x21,
+		},
+	})
+	require.Equal(t, ErrMorePacketsNeeded, err)
+
+	_, err = d.Decode(&rtp.Packet{
+		Header: rtp.Header{
+			Version:        2,
+			Marker:         false,
+			PayloadType:    96,
+			SequenceNumber: 17647,
+			SSRC:           0x9dbb7812,
+		},
+		Payload: []byte{
+			0x80, 0xbb, 0x01, 0x04, 0x24, 0x33, 0x60, 0x15,
+			0x91, 0xfb, 0xfe, 0xe8, 0xf8, 0xb9, 0xa6, 0x9a,
+			0xbf, 0x65, 0xf3, 0x37, 0x40, 0xb8, 0x52, 0x69,
+			0x3f, 0x65, 0x27, 0x36, 0x01, 0x92, 0xe8, 0xef,
+			0x51, 0x3e, 0xcd, 0xf5, 0xcc, 0x4f, 0x8b, 0x4f,
+			0x7b, 0x38, 0x3e, 0x43, 0x4d, 0xc0, 0xa4, 0xc6,
+			0x84, 0x79, 0x8e, 0xf4, 0x4a, 0xe1, 0xa9, 0x2b,
+			0xd5, 0x34, 0x00, 0x30, 0x94, 0x6a, 0x91, 0xa2,
+			0xd5, 0xc0, 0xbf, 0xb5, 0x66, 0x59, 0x38, 0xc2,
+			0xa4, 0x75, 0x96, 0x5b, 0x7a, 0xac, 0x9c, 0x05,
+			0x67, 0x99, 0x2e, 0xba, 0x21, 0x1e, 0xac, 0x50,
+			0x01, 0x68, 0x71, 0xac, 0x68, 0x6d, 0xc1, 0xf2,
+			0x2c, 0x51, 0x1e, 0xb6, 0x64, 0x97, 0x3d, 0x9b,
+			0x2b, 0x89, 0x66, 0xbd, 0x50, 0x4f, 0x5c, 0xec,
+			0x7c, 0xc8, 0x51, 0x61, 0x74, 0xbd, 0x86, 0xb4,
+			0x6e, 0x71, 0x59, 0x24, 0x59, 0xaf, 0x66, 0x54,
+			0x82, 0xdb, 0xe2, 0x11, 0x6f, 0x87, 0x92, 0xf3,
+			0x63, 0xd4, 0x4b, 0xd6, 0x26, 0x42, 0xf1, 0x2a,
+			0x66, 0x63, 0x79, 0x5e, 0x7e, 0xfb, 0x3f, 0x85,
+			0xa7, 0x24, 0xac, 0x53, 0xe2, 0x57, 0x56, 0xdd,
+			0xef, 0x7a, 0xdf, 0xb6, 0x27, 0xaf, 0x25, 0x6a,
+			0x89, 0x4a, 0x4c, 0xc3, 0xe6, 0x2e, 0xbe, 0x2b,
+			0x38, 0x07, 0xe0, 0x96, 0x98, 0xaf, 0x85, 0xf4,
+			0x86, 0x7d, 0xf4, 0xee, 0xe5, 0x78,
+		},
+	})
+	require.EqualError(t, err, "discarding frame since a RTP packet is missing")
+}
+
 func FuzzDecoder(f *testing.F) {
 	f.Fuzz(func(_ *testing.T, a []byte, am bool, b []byte, bm bool) {
 		d := &Decoder{}
diff --git a/pkg/format/rtph264/decoder.go b/pkg/format/rtph264/decoder.go
index ddc451e1..bcb46fa0 100644
--- a/pkg/format/rtph264/decoder.go
+++ b/pkg/format/rtph264/decoder.go
@@ -45,8 +45,9 @@ type Decoder struct {
 	PacketizationMode int
 
 	firstPacketReceived bool
-	fragmentsSize       int
 	fragments           [][]byte
+	fragmentsSize       int
+	fragmentNextSeqNum  uint16
 	annexBMode          bool
 
 	// for Decode()
@@ -97,6 +98,7 @@ func (d *Decoder) decodeNALUs(pkt *rtp.Packet) ([][]byte, error) {
 			typ := pkt.Payload[1] & 0x1F
 			d.fragmentsSize = len(pkt.Payload[1:])
 			d.fragments = append(d.fragments, []byte{(nri << 5) | typ}, pkt.Payload[2:])
+			d.fragmentNextSeqNum = pkt.SequenceNumber + 1
 			d.firstPacketReceived = true
 
 			return nil, ErrMorePacketsNeeded
@@ -110,6 +112,11 @@ func (d *Decoder) decodeNALUs(pkt *rtp.Packet) ([][]byte, error) {
 			return nil, fmt.Errorf("invalid FU-A packet (non-starting)")
 		}
 
+		if pkt.SequenceNumber != d.fragmentNextSeqNum {
+			d.resetFragments()
+			return nil, fmt.Errorf("discarding frame since a RTP packet is missing")
+		}
+
 		d.fragmentsSize += len(pkt.Payload[2:])
 
 		if d.fragmentsSize > h264.MaxAccessUnitSize {
@@ -118,6 +125,7 @@ func (d *Decoder) decodeNALUs(pkt *rtp.Packet) ([][]byte, error) {
 		}
 
 		d.fragments = append(d.fragments, pkt.Payload[2:])
+		d.fragmentNextSeqNum++
 
 		if end != 1 {
 			return nil, ErrMorePacketsNeeded
diff --git a/pkg/format/rtph264/decoder_test.go b/pkg/format/rtph264/decoder_test.go
index a2884a51..f276c622 100644
--- a/pkg/format/rtph264/decoder_test.go
+++ b/pkg/format/rtph264/decoder_test.go
@@ -212,6 +212,36 @@ func TestDecoderErrorLimit(t *testing.T) {
 	require.EqualError(t, err, "NALU count exceeds maximum allowed (25)")
 }
 
+func TestDecodeErrorMissingPacket(t *testing.T) {
+	d := &Decoder{}
+	err := d.Init()
+	require.NoError(t, err)
+
+	_, err = d.Decode(&rtp.Packet{
+		Header: rtp.Header{
+			Version:        2,
+			Marker:         false,
+			PayloadType:    96,
+			SequenceNumber: 17645,
+			SSRC:           0x9dbb7812,
+		},
+		Payload: []byte{0x1c, 0x85, 0x01, 0x02},
+	})
+	require.Equal(t, ErrMorePacketsNeeded, err)
+
+	_, err = d.Decode(&rtp.Packet{
+		Header: rtp.Header{
+			Version:        2,
+			Marker:         false,
+			PayloadType:    96,
+			SequenceNumber: 17647,
+			SSRC:           0x9dbb7812,
+		},
+		Payload: []byte{0x1c, 0x05, 0x01, 0x02},
+	})
+	require.EqualError(t, err, "discarding frame since a RTP packet is missing")
+}
+
 func FuzzDecoder(f *testing.F) {
 	f.Fuzz(func(_ *testing.T, a []byte, b []byte) {
 		d := &Decoder{}
diff --git a/pkg/format/rtph265/decoder.go b/pkg/format/rtph265/decoder.go
index 0f6d6b8e..ad7faa0b 100644
--- a/pkg/format/rtph265/decoder.go
+++ b/pkg/format/rtph265/decoder.go
@@ -37,6 +37,7 @@ type Decoder struct {
 	firstPacketReceived bool
 	fragments           [][]byte
 	fragmentsSize       int
+	fragmentNextSeqNum  uint16
 
 	// for Decode()
 	frameBuffer     [][]byte
@@ -118,6 +119,7 @@ func (d *Decoder) decodeNALUs(pkt *rtp.Packet) ([][]byte, error) {
 			head := uint16(pkt.Payload[0]&0b10000001)<<8 | uint16(typ)<<9 | uint16(pkt.Payload[1])
 			d.fragmentsSize = len(pkt.Payload[1:])
 			d.fragments = append(d.fragments, []byte{byte(head >> 8), byte(head)}, pkt.Payload[3:])
+			d.fragmentNextSeqNum = pkt.SequenceNumber + 1
 			d.firstPacketReceived = true
 
 			return nil, ErrMorePacketsNeeded
@@ -131,13 +133,20 @@ func (d *Decoder) decodeNALUs(pkt *rtp.Packet) ([][]byte, error) {
 			return nil, fmt.Errorf("invalid fragmentation unit (non-starting)")
 		}
 
+		if pkt.SequenceNumber != d.fragmentNextSeqNum {
+			d.resetFragments()
+			return nil, fmt.Errorf("discarding frame since a RTP packet is missing")
+		}
+
 		d.fragmentsSize += len(pkt.Payload[3:])
+
 		if d.fragmentsSize > h265.MaxAccessUnitSize {
 			d.resetFragments()
 			return nil, fmt.Errorf("NALU size (%d) is too big, maximum is %d", d.fragmentsSize, h265.MaxAccessUnitSize)
 		}
 
 		d.fragments = append(d.fragments, pkt.Payload[3:])
+		d.fragmentNextSeqNum++
 
 		if end != 1 {
 			return nil, ErrMorePacketsNeeded
diff --git a/pkg/format/rtph265/decoder_test.go b/pkg/format/rtph265/decoder_test.go
index 0a5cbd8e..f9715ce5 100644
--- a/pkg/format/rtph265/decoder_test.go
+++ b/pkg/format/rtph265/decoder_test.go
@@ -61,6 +61,36 @@ func TestDecoderErrorLimit(t *testing.T) {
 	require.EqualError(t, err, "NALU count exceeds maximum allowed (21)")
 }
 
+func TestDecodeErrorMissingPacket(t *testing.T) {
+	d := &Decoder{}
+	err := d.Init()
+	require.NoError(t, err)
+
+	_, err = d.Decode(&rtp.Packet{
+		Header: rtp.Header{
+			Version:        2,
+			Marker:         false,
+			PayloadType:    96,
+			SequenceNumber: 17645,
+			SSRC:           0x9dbb7812,
+		},
+		Payload: []byte{0x63, 0x02, 0x80, 0x03, 0x04},
+	})
+	require.Equal(t, ErrMorePacketsNeeded, err)
+
+	_, err = d.Decode(&rtp.Packet{
+		Header: rtp.Header{
+			Version:        2,
+			Marker:         false,
+			PayloadType:    96,
+			SequenceNumber: 17647,
+			SSRC:           0x9dbb7812,
+		},
+		Payload: []byte{0x63, 0x02, 0x00, 0x04},
+	})
+	require.EqualError(t, err, "discarding frame since a RTP packet is missing")
+}
+
 func FuzzDecoder(f *testing.F) {
 	f.Fuzz(func(_ *testing.T, a []byte, b []byte) {
 		d := &Decoder{}
diff --git a/pkg/format/rtpmpeg1video/decoder.go b/pkg/format/rtpmpeg1video/decoder.go
index a3795e35..cb9d8607 100644
--- a/pkg/format/rtpmpeg1video/decoder.go
+++ b/pkg/format/rtpmpeg1video/decoder.go
@@ -33,8 +33,9 @@ func joinFragments(fragments [][]byte, size int) []byte {
 // Decoder is a RTP/MPEG-1/2 Video decoder.
 // Specification: https://datatracker.ietf.org/doc/html/rfc2250
 type Decoder struct {
-	fragments     [][]byte
-	fragmentsSize int
+	fragments          [][]byte
+	fragmentsSize      int
+	fragmentNextSeqNum uint16
 
 	sliceBuffer     [][]byte
 	sliceBufferSize int
@@ -91,6 +92,7 @@ func (d *Decoder) decodeSlice(pkt *rtp.Packet) ([]byte, error) {
 		d.fragments = d.fragments[:0]
 		d.fragments = append(d.fragments, pkt.Payload[4:])
 		d.fragmentsSize = len(pkt.Payload[4:])
+		d.fragmentNextSeqNum = pkt.SequenceNumber + 1
 		return nil, ErrMorePacketsNeeded
 
 	case e == 1:
@@ -98,8 +100,14 @@ func (d *Decoder) decodeSlice(pkt *rtp.Packet) ([]byte, error) {
 			return nil, ErrNonStartingPacketAndNoPrevious
 		}
 
+		if pkt.SequenceNumber != d.fragmentNextSeqNum {
+			d.resetFragments()
+			return nil, fmt.Errorf("discarding frame since a RTP packet is missing")
+		}
+
 		d.fragments = append(d.fragments, pkt.Payload[4:])
 		d.fragmentsSize += len(pkt.Payload[4:])
+		d.fragmentNextSeqNum++
 
 		slice := joinFragments(d.fragments, d.fragmentsSize)
 		d.resetFragments()
diff --git a/pkg/format/rtpmpeg1video/decoder_test.go b/pkg/format/rtpmpeg1video/decoder_test.go
index 7c2b3574..7b6e5b04 100644
--- a/pkg/format/rtpmpeg1video/decoder_test.go
+++ b/pkg/format/rtpmpeg1video/decoder_test.go
@@ -26,6 +26,36 @@ func TestDecode(t *testing.T) {
 	}
 }
 
+func TestDecodeErrorMissingPacket(t *testing.T) {
+	d := &Decoder{}
+	err := d.Init()
+	require.NoError(t, err)
+
+	_, err = d.Decode(&rtp.Packet{
+		Header: rtp.Header{
+			Version:        2,
+			Marker:         false,
+			PayloadType:    96,
+			SequenceNumber: 17645,
+			SSRC:           0x9dbb7812,
+		},
+		Payload: []byte{0, 0, 0x10, 0, 0, 0, 1},
+	})
+	require.Equal(t, ErrMorePacketsNeeded, err)
+
+	_, err = d.Decode(&rtp.Packet{
+		Header: rtp.Header{
+			Version:        2,
+			Marker:         false,
+			PayloadType:    96,
+			SequenceNumber: 17647,
+			SSRC:           0x9dbb7812,
+		},
+		Payload: []byte{0, 0, 0x08, 0},
+	})
+	require.EqualError(t, err, "discarding frame since a RTP packet is missing")
+}
+
 func FuzzDecoder(f *testing.F) {
 	f.Fuzz(func(_ *testing.T, a []byte, b []byte) {
 		d := &Decoder{}
diff --git a/pkg/format/rtpmpeg4audio/decoder.go b/pkg/format/rtpmpeg4audio/decoder.go
index 9b296bb4..4d980e8e 100644
--- a/pkg/format/rtpmpeg4audio/decoder.go
+++ b/pkg/format/rtpmpeg4audio/decoder.go
@@ -33,11 +33,12 @@ type Decoder struct {
 	// The number of bits in which the AU-Index-delta field is encoded in any non-first AU-header.
 	IndexDeltaLength int
 
-	firstAUParsed     bool
-	adtsMode          bool
-	fragments         [][]byte
-	fragmentsSize     int
-	fragmentsExpected int
+	firstAUParsed      bool
+	adtsMode           bool
+	fragments          [][]byte
+	fragmentsSize      int
+	fragmentsExpected  int
+	fragmentNextSeqNum uint16
 }
 
 // Init initializes the decoder.
diff --git a/pkg/format/rtpmpeg4audio/decoder_generic.go b/pkg/format/rtpmpeg4audio/decoder_generic.go
index 28029fd5..47c2d574 100644
--- a/pkg/format/rtpmpeg4audio/decoder_generic.go
+++ b/pkg/format/rtpmpeg4audio/decoder_generic.go
@@ -38,6 +38,8 @@ func (d *Decoder) decodeGeneric(pkt *rtp.Packet) ([][]byte, error) {
 	var aus [][]byte
 
 	if d.fragmentsSize == 0 {
+		d.resetFragments()
+
 		if pkt.Marker {
 			// AUs
 			aus = make([][]byte, len(dataLens))
@@ -60,6 +62,7 @@ func (d *Decoder) decodeGeneric(pkt *rtp.Packet) ([][]byte, error) {
 
 			d.fragmentsSize = int(dataLens[0])
 			d.fragments = append(d.fragments, payload[:dataLens[0]])
+			d.fragmentNextSeqNum = pkt.SequenceNumber + 1
 			return nil, ErrMorePacketsNeeded
 		}
 	} else {
@@ -74,7 +77,13 @@ func (d *Decoder) decodeGeneric(pkt *rtp.Packet) ([][]byte, error) {
 			return nil, fmt.Errorf("payload is too short")
 		}
 
+		if pkt.SequenceNumber != d.fragmentNextSeqNum {
+			d.resetFragments()
+			return nil, fmt.Errorf("discarding frame since a RTP packet is missing")
+		}
+
 		d.fragmentsSize += int(dataLens[0])
+
 		if d.fragmentsSize > mpeg4audio.MaxAccessUnitSize {
 			d.resetFragments()
 			return nil, fmt.Errorf("access unit size (%d) is too big, maximum is %d",
@@ -82,6 +91,7 @@ func (d *Decoder) decodeGeneric(pkt *rtp.Packet) ([][]byte, error) {
 		}
 
 		d.fragments = append(d.fragments, payload[:dataLens[0]])
+		d.fragmentNextSeqNum++
 
 		if !pkt.Marker {
 			return nil, ErrMorePacketsNeeded
diff --git a/pkg/format/rtpmpeg4audio/decoder_generic_test.go b/pkg/format/rtpmpeg4audio/decoder_generic_test.go
index ead128b5..745629dc 100644
--- a/pkg/format/rtpmpeg4audio/decoder_generic_test.go
+++ b/pkg/format/rtpmpeg4audio/decoder_generic_test.go
@@ -1,6 +1,7 @@
 package rtpmpeg4audio
 
 import (
+	"bytes"
 	"errors"
 	"testing"
 
@@ -70,6 +71,46 @@ func TestDecodeGenericADTS(t *testing.T) {
 	}
 }
 
+func TestDecodeGenericErrorMissingPacket(t *testing.T) {
+	d := &Decoder{
+		SizeLength:       13,
+		IndexLength:      3,
+		IndexDeltaLength: 3,
+	}
+	err := d.Init()
+	require.NoError(t, err)
+
+	_, err = d.Decode(&rtp.Packet{
+		Header: rtp.Header{
+			Version:        2,
+			Marker:         false,
+			PayloadType:    96,
+			SequenceNumber: 17645,
+			SSRC:           0x9dbb7812,
+		},
+		Payload: mergeBytes(
+			[]byte{0x0, 0x10, 0x2d, 0x80},
+			bytes.Repeat([]byte{0x00, 0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07}, 182),
+		),
+	})
+	require.Equal(t, ErrMorePacketsNeeded, err)
+
+	_, err = d.Decode(&rtp.Packet{
+		Header: rtp.Header{
+			Version:        2,
+			Marker:         false,
+			PayloadType:    96,
+			SequenceNumber: 17647,
+			SSRC:           0x9dbb7812,
+		},
+		Payload: mergeBytes(
+			[]byte{0x00, 0x10, 0x2d, 0x80},
+			bytes.Repeat([]byte{0x00, 0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07}, 182),
+		),
+	})
+	require.EqualError(t, err, "discarding frame since a RTP packet is missing")
+}
+
 func FuzzDecoderGeneric(f *testing.F) {
 	f.Fuzz(func(t *testing.T, a []byte, am bool, b []byte, bm bool) {
 		d := &Decoder{
diff --git a/pkg/format/rtpmpeg4audio/decoder_latm.go b/pkg/format/rtpmpeg4audio/decoder_latm.go
index eab58e0c..0e363c94 100644
--- a/pkg/format/rtpmpeg4audio/decoder_latm.go
+++ b/pkg/format/rtpmpeg4audio/decoder_latm.go
@@ -33,14 +33,21 @@ func (d *Decoder) decodeLATM(pkt *rtp.Packet) ([][]byte, error) {
 			d.fragments = append(d.fragments, buf)
 			d.fragmentsSize = pl
 			d.fragmentsExpected = pl - bl
+			d.fragmentNextSeqNum = pkt.SequenceNumber + 1
 			return nil, ErrMorePacketsNeeded
 		}
 	} else {
+		if pkt.SequenceNumber != d.fragmentNextSeqNum {
+			d.resetFragments()
+			return nil, fmt.Errorf("discarding frame since a RTP packet is missing")
+		}
+
 		bl := len(buf)
 
 		if d.fragmentsExpected > bl {
 			d.fragments = append(d.fragments, buf)
 			d.fragmentsExpected -= bl
+			d.fragmentNextSeqNum++
 			return nil, ErrMorePacketsNeeded
 		}
 
diff --git a/pkg/format/rtpmpeg4audio/decoder_latm_test.go b/pkg/format/rtpmpeg4audio/decoder_latm_test.go
index d4418d7e..1f9cb3f2 100644
--- a/pkg/format/rtpmpeg4audio/decoder_latm_test.go
+++ b/pkg/format/rtpmpeg4audio/decoder_latm_test.go
@@ -1,6 +1,7 @@
 package rtpmpeg4audio
 
 import (
+	"bytes"
 	"errors"
 	"testing"
 
@@ -63,6 +64,45 @@ func TestDecodeLATMOtherData(t *testing.T) {
 	require.Equal(t, []byte{1, 2, 3, 4}, aus[0])
 }
 
+func TestDecodeLATMErrorMissingPacket(t *testing.T) {
+	d := &Decoder{LATM: true}
+	err := d.Init()
+	require.NoError(t, err)
+
+	_, err = d.Decode(&rtp.Packet{
+		Header: rtp.Header{
+			Version:        2,
+			Marker:         false,
+			PayloadType:    96,
+			SequenceNumber: 17645,
+			SSRC:           0x9dbb7812,
+		},
+		Payload: mergeBytes(
+			bytes.Repeat([]byte{0xff}, 16),
+			[]byte{0x10},
+			bytes.Repeat([]byte{0, 1, 2, 3, 4, 5, 6, 7}, 180),
+			[]byte{0, 1, 2},
+		),
+	})
+	require.Equal(t, ErrMorePacketsNeeded, err)
+
+	_, err = d.Decode(&rtp.Packet{
+		Header: rtp.Header{
+			Version:        2,
+			Marker:         false,
+			PayloadType:    96,
+			SequenceNumber: 17647,
+			SSRC:           0x9dbb7812,
+		},
+		Payload: mergeBytes(
+			[]byte{3, 4, 5, 6, 7},
+			bytes.Repeat([]byte{0, 1, 2, 3, 4, 5, 6, 7}, 181),
+			[]byte{0, 1, 2, 3, 4, 5, 6},
+		),
+	})
+	require.EqualError(t, err, "discarding frame since a RTP packet is missing")
+}
+
 func FuzzDecoderLATM(f *testing.F) {
 	f.Fuzz(func(_ *testing.T, a []byte, am bool, b []byte, bm bool) {
 		d := &Decoder{
diff --git a/pkg/format/rtpmpeg4video/decoder.go b/pkg/format/rtpmpeg4video/decoder.go
index a86126bd..b9d8effa 100644
--- a/pkg/format/rtpmpeg4video/decoder.go
+++ b/pkg/format/rtpmpeg4video/decoder.go
@@ -24,8 +24,9 @@ func joinFragments(fragments [][]byte, size int) []byte {
 // Decoder is a RTP/MPEG-4 Video decoder.
 // Specification: https://datatracker.ietf.org/doc/html/rfc6416
 type Decoder struct {
-	fragments     [][]byte
-	fragmentsSize int
+	fragments          [][]byte
+	fragmentsSize      int
+	fragmentNextSeqNum uint16
 }
 
 // Init initializes the decoder.
@@ -48,16 +49,24 @@ func (d *Decoder) Decode(pkt *rtp.Packet) ([]byte, error) {
 		} else {
 			d.fragmentsSize = len(pkt.Payload)
 			d.fragments = append(d.fragments, pkt.Payload)
+			d.fragmentNextSeqNum = pkt.SequenceNumber + 1
 			return nil, ErrMorePacketsNeeded
 		}
 	} else {
+		if pkt.SequenceNumber != d.fragmentNextSeqNum {
+			d.resetFragments()
+			return nil, fmt.Errorf("discarding frame since a RTP packet is missing")
+		}
+
 		d.fragmentsSize += len(pkt.Payload)
+
 		if d.fragmentsSize > mpeg4video.MaxFrameSize {
 			d.resetFragments()
 			return nil, fmt.Errorf("frame size (%d) is too big, maximum is %d", d.fragmentsSize, mpeg4video.MaxFrameSize)
 		}
 
 		d.fragments = append(d.fragments, pkt.Payload)
+		d.fragmentNextSeqNum++
 
 		if !pkt.Marker {
 			return nil, ErrMorePacketsNeeded
diff --git a/pkg/format/rtpmpeg4video/decoder_test.go b/pkg/format/rtpmpeg4video/decoder_test.go
index f44401df..c7d56316 100644
--- a/pkg/format/rtpmpeg4video/decoder_test.go
+++ b/pkg/format/rtpmpeg4video/decoder_test.go
@@ -31,6 +31,36 @@ func TestDecode(t *testing.T) {
 	}
 }
 
+func TestDecodeErrorMissingPacket(t *testing.T) {
+	d := &Decoder{}
+	err := d.Init()
+	require.NoError(t, err)
+
+	_, err = d.Decode(&rtp.Packet{
+		Header: rtp.Header{
+			Version:        2,
+			Marker:         false,
+			PayloadType:    96,
+			SequenceNumber: 17645,
+			SSRC:           0x9dbb7812,
+		},
+		Payload: []byte{0x01, 0x02, 0x03, 0x04},
+	})
+	require.Equal(t, ErrMorePacketsNeeded, err)
+
+	_, err = d.Decode(&rtp.Packet{
+		Header: rtp.Header{
+			Version:        2,
+			Marker:         false,
+			PayloadType:    96,
+			SequenceNumber: 17647,
+			SSRC:           0x9dbb7812,
+		},
+		Payload: []byte{0x01, 0x02, 0x03, 0x04},
+	})
+	require.EqualError(t, err, "discarding frame since a RTP packet is missing")
+}
+
 func FuzzDecoder(f *testing.F) {
 	f.Fuzz(func(_ *testing.T, a []byte, am bool, b []byte, bm bool) {
 		d := &Decoder{}
diff --git a/pkg/format/rtpvp8/decoder.go b/pkg/format/rtpvp8/decoder.go
index 1a178a40..308d0710 100644
--- a/pkg/format/rtpvp8/decoder.go
+++ b/pkg/format/rtpvp8/decoder.go
@@ -34,6 +34,7 @@ type Decoder struct {
 	firstPacketReceived bool
 	fragmentsSize       int
 	fragments           [][]byte
+	fragmentNextSeqNum  uint16
 }
 
 // Init initializes the decoder.
@@ -69,6 +70,7 @@ func (d *Decoder) Decode(pkt *rtp.Packet) ([]byte, error) {
 		if !pkt.Marker {
 			d.fragmentsSize = len(vpkt.Payload)
 			d.fragments = append(d.fragments, vpkt.Payload)
+			d.fragmentNextSeqNum = pkt.SequenceNumber + 1
 			return nil, ErrMorePacketsNeeded
 		}
 
@@ -82,6 +84,11 @@ func (d *Decoder) Decode(pkt *rtp.Packet) ([]byte, error) {
 			return nil, fmt.Errorf("received a non-starting fragment")
 		}
 
+		if pkt.SequenceNumber != d.fragmentNextSeqNum {
+			d.resetFragments()
+			return nil, fmt.Errorf("discarding frame since a RTP packet is missing")
+		}
+
 		d.fragmentsSize += len(vpkt.Payload)
 
 		if d.fragmentsSize > vp8.MaxFrameSize {
@@ -90,6 +97,7 @@ func (d *Decoder) Decode(pkt *rtp.Packet) ([]byte, error) {
 		}
 
 		d.fragments = append(d.fragments, vpkt.Payload)
+		d.fragmentNextSeqNum++
 
 		if !pkt.Marker {
 			return nil, ErrMorePacketsNeeded
diff --git a/pkg/format/rtpvp8/decoder_test.go b/pkg/format/rtpvp8/decoder_test.go
index b42a3faa..973e9fda 100644
--- a/pkg/format/rtpvp8/decoder_test.go
+++ b/pkg/format/rtpvp8/decoder_test.go
@@ -1,6 +1,7 @@
 package rtpvp8
 
 import (
+	"bytes"
 	"testing"
 
 	"github.com/pion/rtp"
@@ -26,6 +27,36 @@ func TestDecode(t *testing.T) {
 	}
 }
 
+func TestDecodeErrorMissingPacket(t *testing.T) {
+	d := &Decoder{}
+	err := d.Init()
+	require.NoError(t, err)
+
+	_, err = d.Decode(&rtp.Packet{
+		Header: rtp.Header{
+			Version:        2,
+			Marker:         false,
+			PayloadType:    96,
+			SequenceNumber: 17645,
+			SSRC:           0x9dbb7812,
+		},
+		Payload: mergeBytes([]byte{0x10}, bytes.Repeat([]byte{0x01, 0x02, 0x03, 0x04}, 364), []byte{0x01, 0x02, 0x03}),
+	})
+	require.Equal(t, ErrMorePacketsNeeded, err)
+
+	_, err = d.Decode(&rtp.Packet{
+		Header: rtp.Header{
+			Version:        2,
+			Marker:         false,
+			PayloadType:    96,
+			SequenceNumber: 17647,
+			SSRC:           0x9dbb7812,
+		},
+		Payload: mergeBytes([]byte{0x00, 0x04}, bytes.Repeat([]byte{0x01, 0x02, 0x03, 0x04}, 364), []byte{0x01, 0x02}),
+	})
+	require.EqualError(t, err, "discarding frame since a RTP packet is missing")
+}
+
 func FuzzDecoder(f *testing.F) {
 	f.Fuzz(func(_ *testing.T, a []byte, am bool, b []byte, bm bool) {
 		d := &Decoder{}
diff --git a/pkg/format/rtpvp9/decoder.go b/pkg/format/rtpvp9/decoder.go
index 351bac21..06e3ad40 100644
--- a/pkg/format/rtpvp9/decoder.go
+++ b/pkg/format/rtpvp9/decoder.go
@@ -34,6 +34,7 @@ type Decoder struct {
 	firstPacketReceived bool
 	fragmentsSize       int
 	fragments           [][]byte
+	fragmentNextSeqNum  uint16
 }
 
 // Init initializes the decoder.
@@ -64,6 +65,7 @@ func (d *Decoder) Decode(pkt *rtp.Packet) ([]byte, error) {
 		if !vpkt.E {
 			d.fragmentsSize = len(vpkt.Payload)
 			d.fragments = append(d.fragments, vpkt.Payload)
+			d.fragmentNextSeqNum = pkt.SequenceNumber + 1
 			return nil, ErrMorePacketsNeeded
 		}
 
@@ -77,6 +79,11 @@ func (d *Decoder) Decode(pkt *rtp.Packet) ([]byte, error) {
 			return nil, fmt.Errorf("received a non-starting fragment")
 		}
 
+		if pkt.SequenceNumber != d.fragmentNextSeqNum {
+			d.resetFragments()
+			return nil, fmt.Errorf("discarding frame since a RTP packet is missing")
+		}
+
 		d.fragmentsSize += len(vpkt.Payload)
 
 		if d.fragmentsSize > vp9.MaxFrameSize {
@@ -85,6 +92,7 @@ func (d *Decoder) Decode(pkt *rtp.Packet) ([]byte, error) {
 		}
 
 		d.fragments = append(d.fragments, vpkt.Payload)
+		d.fragmentNextSeqNum++
 
 		if !vpkt.E {
 			return nil, ErrMorePacketsNeeded
diff --git a/pkg/format/rtpvp9/decoder_test.go b/pkg/format/rtpvp9/decoder_test.go
index 2e437436..6581b8e4 100644
--- a/pkg/format/rtpvp9/decoder_test.go
+++ b/pkg/format/rtpvp9/decoder_test.go
@@ -1,6 +1,7 @@
 package rtpvp9
 
 import (
+	"bytes"
 	"testing"
 
 	"github.com/pion/rtp"
@@ -26,6 +27,44 @@ func TestDecode(t *testing.T) {
 	}
 }
 
+func TestDecodeErrorMissingPacket(t *testing.T) {
+	d := &Decoder{}
+	err := d.Init()
+	require.NoError(t, err)
+
+	_, err = d.Decode(&rtp.Packet{
+		Header: rtp.Header{
+			Version:        2,
+			Marker:         false,
+			PayloadType:    96,
+			SequenceNumber: 17645,
+			SSRC:           0x9dbb7812,
+		},
+		Payload: mergeBytes(
+			[]byte{
+				0x8b, 0xb5, 0xaf, 0x18, 0x07, 0x80, 0x03, 0x24,
+				0x01, 0x14, 0x01, 0x82, 0x49, 0x83, 0x42, 0x00,
+				0x77, 0xf0, 0x32, 0x34,
+			},
+			bytes.Repeat([]byte{1, 2, 3, 4}, 360)),
+	})
+	require.Equal(t, ErrMorePacketsNeeded, err)
+
+	_, err = d.Decode(&rtp.Packet{
+		Header: rtp.Header{
+			Version:        2,
+			Marker:         false,
+			PayloadType:    96,
+			SequenceNumber: 17647,
+			SSRC:           0x9dbb7812,
+		},
+		Payload: mergeBytes(
+			[]byte{0x81, 0xb5, 0xaf},
+			bytes.Repeat([]byte{1, 2, 3, 4}, 364), []byte{1}),
+	})
+	require.EqualError(t, err, "discarding frame since a RTP packet is missing")
+}
+
 func FuzzDecoder(f *testing.F) {
 	f.Fuzz(func(_ *testing.T, a []byte, am bool, b []byte, bm bool) {
 		d := &Decoder{}