diff --git a/rclpy/rclpy/node.py b/rclpy/rclpy/node.py
index 01353b964..873b8df81 100644
--- a/rclpy/rclpy/node.py
+++ b/rclpy/rclpy/node.py
@@ -1760,7 +1760,7 @@ def create_service(
     def create_timer(
         self,
         timer_period_sec: float,
-        callback: Callable[[TimerInfo], None],
+        callback: Union[Callable[[], None], Callable[[TimerInfo], None], None],
         callback_group: Optional[CallbackGroup] = None,
         clock: Optional[Clock] = None,
         autostart: bool = True,
diff --git a/rclpy/rclpy/timer.py b/rclpy/rclpy/timer.py
index 236dcfb45..7e1b1feb9 100644
--- a/rclpy/rclpy/timer.py
+++ b/rclpy/rclpy/timer.py
@@ -17,17 +17,52 @@
 from types import TracebackType
 from typing import Callable
 from typing import Optional
+from typing import Protocol
 from typing import Type
+from typing import Union
 
 from rclpy.callback_groups import CallbackGroup
-from rclpy.clock import Clock, ClockType
+from rclpy.clock import Clock
+from rclpy.clock_type import ClockType
 from rclpy.context import Context
+from rclpy.destroyable import DestroyableType
 from rclpy.exceptions import InvalidHandle, ROSInterruptException
 from rclpy.impl.implementation_singleton import rclpy_implementation as _rclpy
 from rclpy.time import Time
 from rclpy.utilities import get_default_context
 
 
+class TimerHandle(DestroyableType, Protocol):
+    """Type alias of _rclpy.Timer."""
+
+    def reset_timer(self) -> None:
+        ...
+
+    def is_timer_ready(self) -> bool:
+        ...
+
+    def call_timer(self) -> None:
+        ...
+
+    def change_timer_period(self, period_nsec: int) -> None:
+        ...
+
+    def time_until_next_call(self) -> Optional[int]:
+        ...
+
+    def time_since_last_call(self) -> int:
+        ...
+
+    def get_timer_period(self) -> int:
+        ...
+
+    def cancel_timer(self) -> None:
+        ...
+
+    def is_timer_canceled(self) -> bool:
+        ...
+
+
 class TimerInfo:
     """
     Represents a timer call information.
@@ -64,7 +99,7 @@ class Timer:
 
     def __init__(
         self,
-        callback: Callable,
+        callback: Union[Callable[[], None], Callable[[TimerInfo], None], None],
         callback_group: CallbackGroup,
         timer_period_ns: int,
         clock: Clock,
@@ -94,8 +129,10 @@ def __init__(
         """
         self._context = get_default_context() if context is None else context
         self._clock = clock
+        if self._context.handle is None:
+            raise RuntimeError('Context must be initialized before create a TimerHandle.')
         with self._clock.handle, self._context.handle:
-            self.__timer = _rclpy.Timer(
+            self.__timer: TimerHandle = _rclpy.Timer(
                 self._clock.handle, self._context.handle, timer_period_ns, autostart)
         self.timer_period_ns = timer_period_ns
         self.callback = callback
@@ -104,10 +141,10 @@ def __init__(
         self._executor_event = False
 
     @property
-    def handle(self):
+    def handle(self) -> TimerHandle:
         return self.__timer
 
-    def destroy(self):
+    def destroy(self) -> None:
         """
         Destroy a container for a ROS timer.
 
@@ -117,44 +154,44 @@ def destroy(self):
         self.__timer.destroy_when_not_in_use()
 
     @property
-    def clock(self):
+    def clock(self) -> Clock:
         return self._clock
 
     @property
-    def timer_period_ns(self):
+    def timer_period_ns(self) -> int:
         with self.__timer:
             val = self.__timer.get_timer_period()
         self.__timer_period_ns = val
         return val
 
     @timer_period_ns.setter
-    def timer_period_ns(self, value):
+    def timer_period_ns(self, value: int) -> None:
         val = int(value)
         with self.__timer:
             self.__timer.change_timer_period(val)
         self.__timer_period_ns = val
 
-    def is_ready(self):
+    def is_ready(self) -> bool:
         with self.__timer:
             return self.__timer.is_timer_ready()
 
-    def is_canceled(self):
+    def is_canceled(self) -> bool:
         with self.__timer:
             return self.__timer.is_timer_canceled()
 
-    def cancel(self):
+    def cancel(self) -> None:
         with self.__timer:
             self.__timer.cancel_timer()
 
-    def reset(self):
+    def reset(self) -> None:
         with self.__timer:
             self.__timer.reset_timer()
 
-    def time_since_last_call(self):
+    def time_since_last_call(self) -> int:
         with self.__timer:
             return self.__timer.time_since_last_call()
 
-    def time_until_next_call(self):
+    def time_until_next_call(self) -> Optional[int]:
         with self.__timer:
             return self.__timer.time_until_next_call()
 
@@ -173,7 +210,7 @@ def __exit__(
 class Rate:
     """A utility for sleeping at a fixed rate."""
 
-    def __init__(self, timer: Timer, *, context):
+    def __init__(self, timer: Timer, *, context: Context):
         """
         Create a Rate.
 
@@ -196,11 +233,11 @@ def __init__(self, timer: Timer, *, context):
         # Set event when ROS is shutdown
         context.on_shutdown(self._on_shutdown)
 
-    def _on_shutdown(self):
+    def _on_shutdown(self) -> None:
         self._is_shutdown = True
         self.destroy()
 
-    def destroy(self):
+    def destroy(self) -> None:
         """
         Destroy a container for a ROS rate.
 
@@ -210,7 +247,7 @@ def destroy(self):
         self._is_destroyed = True
         self._event.set()
 
-    def _presleep(self):
+    def _presleep(self) -> None:
         if self._is_shutdown:
             raise ROSInterruptException()
         if self._is_destroyed:
@@ -221,7 +258,7 @@ def _presleep(self):
         with self._lock:
             self._num_sleepers += 1
 
-    def _postsleep(self):
+    def _postsleep(self) -> None:
         with self._lock:
             self._num_sleepers -= 1
             if self._num_sleepers == 0:
@@ -230,7 +267,7 @@ def _postsleep(self):
             self.destroy()
             raise ROSInterruptException()
 
-    def sleep(self):
+    def sleep(self) -> None:
         """
         Block until timer triggers.