diff --git a/perception/euclidean_cluster/CMakeLists.txt b/perception/euclidean_cluster/CMakeLists.txt
index dacbcf460a14a..d27390ae7707a 100644
--- a/perception/euclidean_cluster/CMakeLists.txt
+++ b/perception/euclidean_cluster/CMakeLists.txt
@@ -55,7 +55,15 @@ rclcpp_components_register_node(${PROJECT_NAME}_voxel_grid_node_core
   EXECUTABLE voxel_grid_based_euclidean_cluster_node
 )
 
+if(BUILD_TESTING)
+  find_package(ament_cmake_gtest REQUIRED)
+  ament_auto_add_gtest(test_voxel_grid_based_euclidean_cluster_fusion
+    test/test_voxel_grid_based_euclidean_cluster.cpp
+  )
+endif()
+
 ament_auto_package(INSTALL_TO_SHARE
     launch
     config
+    test
 )
diff --git a/perception/euclidean_cluster/package.xml b/perception/euclidean_cluster/package.xml
index 2644786ead061..45b5d05031c72 100644
--- a/perception/euclidean_cluster/package.xml
+++ b/perception/euclidean_cluster/package.xml
@@ -12,6 +12,7 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <depend>autoware_perception_msgs</depend>
+  <depend>autoware_point_types</depend>
   <depend>autoware_universe_utils</depend>
   <depend>geometry_msgs</depend>
   <depend>libpcl-all-dev</depend>
@@ -21,6 +22,8 @@
   <depend>sensor_msgs</depend>
   <depend>tier4_perception_msgs</depend>
 
+  <test_depend>ament_cmake_gtest</test_depend>
+  <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>
 
   <export>
diff --git a/perception/euclidean_cluster/test/test_voxel_grid_based_euclidean_cluster.cpp b/perception/euclidean_cluster/test/test_voxel_grid_based_euclidean_cluster.cpp
new file mode 100644
index 0000000000000..7d2edbe0de0d7
--- /dev/null
+++ b/perception/euclidean_cluster/test/test_voxel_grid_based_euclidean_cluster.cpp
@@ -0,0 +1,173 @@
+// Copyright 2024 TIER IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "autoware/euclidean_cluster/voxel_grid_based_euclidean_cluster.hpp"
+
+#include <autoware_point_types/types.hpp>
+#include <experimental/random>
+
+#include <sensor_msgs/msg/point_cloud2.hpp>
+#include <sensor_msgs/point_cloud2_iterator.hpp>
+#include <tier4_perception_msgs/msg/detected_objects_with_feature.hpp>
+
+#include <gtest/gtest.h>
+
+using autoware_point_types::PointXYZI;
+void setPointCloud2Fields(sensor_msgs::msg::PointCloud2 & pointcloud)
+{
+  pointcloud.fields.resize(4);
+  pointcloud.fields[0].name = "x";
+  pointcloud.fields[1].name = "y";
+  pointcloud.fields[2].name = "z";
+  pointcloud.fields[3].name = "intensity";
+  pointcloud.fields[0].offset = 0;
+  pointcloud.fields[1].offset = 4;
+  pointcloud.fields[2].offset = 8;
+  pointcloud.fields[3].offset = 12;
+  pointcloud.fields[0].datatype = sensor_msgs::msg::PointField::FLOAT32;
+  pointcloud.fields[1].datatype = sensor_msgs::msg::PointField::FLOAT32;
+  pointcloud.fields[2].datatype = sensor_msgs::msg::PointField::FLOAT32;
+  pointcloud.fields[3].datatype = sensor_msgs::msg::PointField::FLOAT32;
+  pointcloud.fields[0].count = 1;
+  pointcloud.fields[1].count = 1;
+  pointcloud.fields[2].count = 1;
+  pointcloud.fields[3].count = 1;
+  pointcloud.height = 1;
+  pointcloud.point_step = 16;
+  pointcloud.is_bigendian = false;
+  pointcloud.is_dense = true;
+  pointcloud.header.frame_id = "dummy_frame_id";
+  pointcloud.header.stamp.sec = 0;
+  pointcloud.header.stamp.nanosec = 0;
+}
+
+sensor_msgs::msg::PointCloud2 generateClusterWithinVoxel(const int nb_points)
+{
+  sensor_msgs::msg::PointCloud2 pointcloud;
+  setPointCloud2Fields(pointcloud);
+  pointcloud.data.resize(nb_points * pointcloud.point_step);
+
+  // generate one cluster with specified number of points within 1 voxel
+  for (int i = 0; i < nb_points; ++i) {
+    PointXYZI point;
+    point.x = std::experimental::randint(0, 30) / 100.0;  // point.x within 0.0 to 0.3
+    point.y = std::experimental::randint(0, 30) / 100.0;  // point.y within 0.0 to 0.3
+    point.z = std::experimental::randint(0, 30) / 1.0;
+    point.intensity = 0.0;
+    memcpy(&pointcloud.data[i * pointcloud.point_step], &point, pointcloud.point_step);
+  }
+  pointcloud.width = nb_points;
+  pointcloud.row_step = pointcloud.point_step * nb_points;
+  return pointcloud;
+}
+
+// Test case 1: Test case when the input pointcloud has only one cluster with points number equal to
+// max_cluster_size
+TEST(VoxelGridBasedEuclideanClusterTest, testcase1)
+{
+  int nb_generated_points = 100;
+  sensor_msgs::msg::PointCloud2 pointcloud = generateClusterWithinVoxel(nb_generated_points);
+
+  const sensor_msgs::msg::PointCloud2::ConstSharedPtr pointcloud_msg =
+    std::make_shared<sensor_msgs::msg::PointCloud2>(pointcloud);
+  tier4_perception_msgs::msg::DetectedObjectsWithFeature output;
+  std::shared_ptr<autoware::euclidean_cluster::VoxelGridBasedEuclideanCluster> cluster_;
+  float tolerance = 0.7;
+  float voxel_leaf_size = 0.3;
+  int min_points_number_per_voxel = 1;
+  int min_cluster_size = 1;
+  int max_cluster_size = 100;
+  bool use_height = false;
+  cluster_ = std::make_shared<autoware::euclidean_cluster::VoxelGridBasedEuclideanCluster>(
+    use_height, min_cluster_size, max_cluster_size, tolerance, voxel_leaf_size,
+    min_points_number_per_voxel);
+  if (cluster_->cluster(pointcloud_msg, output)) {
+    std::cout << "cluster success" << std::endl;
+  } else {
+    std::cout << "cluster failed" << std::endl;
+  }
+  std::cout << "number of output clusters " << output.feature_objects.size() << std::endl;
+  std::cout << "number points of first cluster: " << output.feature_objects[0].feature.cluster.width
+            << std::endl;
+  // the output clusters should has only one cluster with nb_generated_points points
+  EXPECT_EQ(output.feature_objects.size(), 1);
+  EXPECT_EQ(output.feature_objects[0].feature.cluster.width, nb_generated_points);
+}
+
+// Test case 2: Test case when the input pointcloud has only one cluster with points number less
+// than min_cluster_size
+TEST(VoxelGridBasedEuclideanClusterTest, testcase2)
+{
+  int nb_generated_points = 1;
+
+  sensor_msgs::msg::PointCloud2 pointcloud = generateClusterWithinVoxel(nb_generated_points);
+
+  const sensor_msgs::msg::PointCloud2::ConstSharedPtr pointcloud_msg =
+    std::make_shared<sensor_msgs::msg::PointCloud2>(pointcloud);
+  tier4_perception_msgs::msg::DetectedObjectsWithFeature output;
+  std::shared_ptr<autoware::euclidean_cluster::VoxelGridBasedEuclideanCluster> cluster_;
+  float tolerance = 0.7;
+  float voxel_leaf_size = 0.3;
+  int min_points_number_per_voxel = 1;
+  int min_cluster_size = 2;
+  int max_cluster_size = 100;
+  bool use_height = false;
+  cluster_ = std::make_shared<autoware::euclidean_cluster::VoxelGridBasedEuclideanCluster>(
+    use_height, min_cluster_size, max_cluster_size, tolerance, voxel_leaf_size,
+    min_points_number_per_voxel);
+  if (cluster_->cluster(pointcloud_msg, output)) {
+    std::cout << "cluster success" << std::endl;
+  } else {
+    std::cout << "cluster failed" << std::endl;
+  }
+  std::cout << "number of output clusters " << output.feature_objects.size() << std::endl;
+  // the output clusters should be empty
+  EXPECT_EQ(output.feature_objects.size(), 0);
+}
+
+// Test case 3: Test case when the input pointcloud has two clusters with points number greater to
+// max_cluster_size
+TEST(VoxelGridBasedEuclideanClusterTest, testcase3)
+{
+  int nb_generated_points = 100;
+  sensor_msgs::msg::PointCloud2 pointcloud = generateClusterWithinVoxel(nb_generated_points);
+
+  const sensor_msgs::msg::PointCloud2::ConstSharedPtr pointcloud_msg =
+    std::make_shared<sensor_msgs::msg::PointCloud2>(pointcloud);
+  tier4_perception_msgs::msg::DetectedObjectsWithFeature output;
+  std::shared_ptr<autoware::euclidean_cluster::VoxelGridBasedEuclideanCluster> cluster_;
+  float tolerance = 0.7;
+  float voxel_leaf_size = 0.3;
+  int min_points_number_per_voxel = 1;
+  int min_cluster_size = 1;
+  int max_cluster_size = 99;  // max_cluster_size is less than nb_generated_points
+  bool use_height = false;
+  cluster_ = std::make_shared<autoware::euclidean_cluster::VoxelGridBasedEuclideanCluster>(
+    use_height, min_cluster_size, max_cluster_size, tolerance, voxel_leaf_size,
+    min_points_number_per_voxel);
+  if (cluster_->cluster(pointcloud_msg, output)) {
+    std::cout << "cluster success" << std::endl;
+  } else {
+    std::cout << "cluster failed" << std::endl;
+  }
+  std::cout << "number of output clusters " << output.feature_objects.size() << std::endl;
+  // the output clusters should be emtpy
+  EXPECT_EQ(output.feature_objects.size(), 0);
+}
+
+int main(int argc, char ** argv)
+{
+  testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}