diff --git a/src/dynamics/rigid_body/world_query.rs b/src/dynamics/rigid_body/world_query.rs
index 3e56b05c2..15d9da066 100644
--- a/src/dynamics/rigid_body/world_query.rs
+++ b/src/dynamics/rigid_body/world_query.rs
@@ -25,6 +25,8 @@ pub struct RigidBodyQuery {
     #[cfg(feature = "3d")]
     pub global_angular_inertia: &'static mut GlobalAngularInertia,
     pub center_of_mass: &'static mut ComputedCenterOfMass,
+    pub max_linear_speed: Option<&'static MaxLinearSpeed>,
+    pub max_angular_speed: Option<&'static MaxAngularSpeed>,
     pub friction: Option<&'static Friction>,
     pub restitution: Option<&'static Restitution>,
     pub locked_axes: Option<&'static LockedAxes>,
@@ -112,6 +114,30 @@ impl RigidBodyQueryItem<'_> {
             self.dominance.map_or(0, |dominance| dominance.0)
         }
     }
+
+    /// Clamps both [`LinearVelocity`] as well as [`AngularVelocity`] to the
+    /// limits determined by [`MaxLinearSpeed`] and [`MaxAngularSpeed`], if present
+    pub fn clamp_velocities(&mut self) {
+        if let Some(max_linear_speed) = self.max_linear_speed {
+            let linear_speed_squared = self.linear_velocity.0.length_squared();
+            if linear_speed_squared > max_linear_speed.0.powi(2) {
+                self.linear_velocity.0 *= max_linear_speed.0 / linear_speed_squared.sqrt();
+            }
+        }
+        if let Some(max_angular_speed) = self.max_angular_speed {
+            #[cfg(feature = "2d")]
+            if self.angular_velocity.abs() > max_angular_speed.0 {
+                self.angular_velocity.0 = max_angular_speed.copysign(self.angular_velocity.0);
+            }
+            #[cfg(feature = "3d")]
+            {
+                let angular_speed_squared = self.angular_velocity.0.length_squared();
+                if angular_speed_squared > max_angular_speed.0.powi(2) {
+                    self.angular_velocity.0 *= max_angular_speed.0 / angular_speed_squared.sqrt();
+                }
+            }
+        }
+    }
 }
 
 impl RigidBodyQueryReadOnlyItem<'_> {
diff --git a/src/dynamics/solver/contact/mod.rs b/src/dynamics/solver/contact/mod.rs
index 6a818bb13..8a58b7f14 100644
--- a/src/dynamics/solver/contact/mod.rs
+++ b/src/dynamics/solver/contact/mod.rs
@@ -242,10 +242,12 @@ impl ContactConstraint {
             if body1.rb.is_dynamic() && body1.dominance() <= body2.dominance() {
                 body1.linear_velocity.0 -= p * inv_mass1;
                 body1.angular_velocity.0 -= inv_inertia1 * cross(r1, p);
+                body1.clamp_velocities();
             }
             if body2.rb.is_dynamic() && body2.dominance() <= body1.dominance() {
                 body2.linear_velocity.0 += p * inv_mass2;
                 body2.angular_velocity.0 += inv_inertia2 * cross(r2, p);
+                body2.clamp_velocities();
             }
         }
     }
@@ -305,10 +307,12 @@ impl ContactConstraint {
             if body1.rb.is_dynamic() && body1.dominance() <= body2.dominance() {
                 body1.linear_velocity.0 -= impulse * inv_mass1;
                 body1.angular_velocity.0 -= inv_inertia1 * cross(r1, impulse);
+                body1.clamp_velocities();
             }
             if body2.rb.is_dynamic() && body2.dominance() <= body1.dominance() {
                 body2.linear_velocity.0 += impulse * inv_mass2;
                 body2.angular_velocity.0 += inv_inertia2 * cross(r2, impulse);
+                body2.clamp_velocities();
             }
         }
 
@@ -341,10 +345,12 @@ impl ContactConstraint {
             if body1.rb.is_dynamic() && body1.dominance() <= body2.dominance() {
                 body1.linear_velocity.0 -= impulse * inv_mass1;
                 body1.angular_velocity.0 -= inv_inertia1 * cross(r1, impulse);
+                body1.clamp_velocities();
             }
             if body2.rb.is_dynamic() && body2.dominance() <= body1.dominance() {
                 body2.linear_velocity.0 += impulse * inv_mass2;
                 body2.angular_velocity.0 += inv_inertia2 * cross(r2, impulse);
+                body2.clamp_velocities();
             }
         }
     }
@@ -393,10 +399,12 @@ impl ContactConstraint {
             if body1.rb.is_dynamic() && body1.dominance() <= body2.dominance() {
                 body1.linear_velocity.0 -= impulse * inv_mass1;
                 body1.angular_velocity.0 -= inv_inertia1 * cross(r1, impulse);
+                body1.clamp_velocities();
             }
             if body2.rb.is_dynamic() && body2.dominance() <= body1.dominance() {
                 body2.linear_velocity.0 += impulse * inv_mass2;
                 body2.angular_velocity.0 += inv_inertia2 * cross(r2, impulse);
+                body2.clamp_velocities();
             }
         }
     }