diff --git a/docs/providers/aws/events/streams.md b/docs/providers/aws/events/streams.md
index 1a53ba41660..6e11dc2c236 100644
--- a/docs/providers/aws/events/streams.md
+++ b/docs/providers/aws/events/streams.md
@@ -90,6 +90,24 @@ functions:
           enabled: false
 ```
 
+### Setting the Kinesis StartingPosition
+
+This configuration sets up a disabled Kinesis stream event for the `preprocess` function. The starting position is
+`AT_TIMESTAMP` and the timestamp value is `1000000001`.
+
+```yml
+functions:
+  preprocess:
+    handler: handler.preprocess
+    events:
+      - stream:
+          arn: arn:aws:kinesis:region:XXXXXX:stream/foo
+          startingPosition: AT_TIMESTAMP
+          startingPositionTimestamp: 1000000001
+          maximumRetryAttempts: 10
+          enabled: false
+```
+
 ## Setting the BatchWindow
 
 The configuration below sets up a Kinesis stream event for the `preprocess` function which has a batch window of `10`.
diff --git a/lib/plugins/aws/package/compile/events/stream.js b/lib/plugins/aws/package/compile/events/stream.js
index 876b4b700b8..129997eedb6 100644
--- a/lib/plugins/aws/package/compile/events/stream.js
+++ b/lib/plugins/aws/package/compile/events/stream.js
@@ -2,6 +2,7 @@
 
 const _ = require('lodash');
 const resolveLambdaTarget = require('../../../utils/resolve-lambda-target');
+const ServerlessError = require('../../../../../serverless-error');
 
 class AwsCompileStreamEvents {
   constructor(serverless) {
@@ -23,7 +24,8 @@ class AwsCompileStreamEvents {
             type: { enum: ['dynamodb', 'kinesis'] },
             batchSize: { type: 'integer', minimum: 1, maximum: 10000 },
             parallelizationFactor: { type: 'integer', minimum: 1, maximum: 10 },
-            startingPosition: { enum: ['LATEST', 'TRIM_HORIZON'] },
+            startingPosition: { enum: ['LATEST', 'TRIM_HORIZON', 'AT_TIMESTAMP'] },
+            startingPositionTimestamp: { type: 'number' },
             enabled: { type: 'boolean' },
             consumer: { anyOf: [{ const: true }, { $ref: '#/definitions/awsArn' }] },
             batchWindow: { type: 'integer', minimum: 0, maximum: 300 },
@@ -157,6 +159,7 @@ class AwsCompileStreamEvents {
                 ParallelizationFactor = event.stream.parallelizationFactor;
               }
               StartingPosition = event.stream.startingPosition || StartingPosition;
+
               if (typeof event.stream.enabled !== 'undefined') {
                 Enabled = event.stream.enabled;
               }
@@ -317,6 +320,21 @@ class AwsCompileStreamEvents {
                 streamResource.Properties.EventSourceArn = consumerArn;
                 kinesisConsumerStatement.Resource.push(consumerArn);
               }
+
+              if (
+                event.stream.startingPosition === 'AT_TIMESTAMP' &&
+                !event.stream.startingPositionTimestamp
+              ) {
+                throw new ServerlessError(
+                  `You must specify startingPositionTimestamp for function: ${functionName} when startingPosition is AT_TIMESTAMP`,
+                  'FUNCTION_STREAM_STARTING_POSITION_TIMESTAMP_INVALID'
+                );
+              }
+
+              if (event.stream.startingPositionTimestamp) {
+                streamResource.Properties.StartingPositionTimestamp =
+                  event.stream.startingPositionTimestamp;
+              }
             }
 
             _.merge(
diff --git a/test/unit/lib/plugins/aws/package/compile/events/stream.test.js b/test/unit/lib/plugins/aws/package/compile/events/stream.test.js
index 0cad1d43c34..a3cbb9c06e3 100644
--- a/test/unit/lib/plugins/aws/package/compile/events/stream.test.js
+++ b/test/unit/lib/plugins/aws/package/compile/events/stream.test.js
@@ -1030,6 +1030,8 @@ describe('AwsCompileStreamEvents', () => {
                 stream: {
                   arn: 'arn:aws:kinesis:region:account:stream/abc',
                   consumer: true,
+                  startingPosition: 'AT_TIMESTAMP',
+                  startingPositionTimestamp: 123,
                 },
               },
               {
@@ -1252,7 +1254,11 @@ describe('AwsCompileStreamEvents', () => {
         expect(
           awsCompileStreamEvents.serverless.service.provider.compiledCloudFormationTemplate
             .Resources.FirstEventSourceMappingKinesisAbc.Properties.StartingPosition
-        ).to.equal('TRIM_HORIZON');
+        ).to.equal('AT_TIMESTAMP');
+        expect(
+          awsCompileStreamEvents.serverless.service.provider.compiledCloudFormationTemplate
+            .Resources.FirstEventSourceMappingKinesisAbc.Properties.StartingPositionTimestamp
+        ).to.equal(123);
         expect(
           awsCompileStreamEvents.serverless.service.provider.compiledCloudFormationTemplate
             .Resources.FirstEventSourceMappingKinesisAbc.Properties.Enabled
@@ -1421,6 +1427,28 @@ describe('AwsCompileStreamEvents', () => {
             .Resources.IamRoleLambdaExecution.Properties.Policies[0].PolicyDocument.Statement
         ).to.deep.equal(iamRoleStatements);
       });
+
+      it('should fail to compile EventSourceMapping resource properties for startingPosition AT_TIMESTAMP with no startingPositionTimestamp', () => {
+        expect(() => {
+          awsCompileStreamEvents.serverless.service.functions = {
+            first: {
+              events: [
+                {
+                  stream: {
+                    arn: 'arn:aws:kinesis:region:account:stream/abc',
+                    consumer: true,
+                    startingPosition: 'AT_TIMESTAMP',
+                  },
+                },
+              ],
+            },
+          };
+
+          awsCompileStreamEvents.compileStreamEvents();
+        }).to.throw(
+          'You must specify startingPositionTimestamp for function: first when startingPosition is AT_TIMESTAMP'
+        );
+      });
     });
 
     it('should remove all non-alphanumerics from stream names for the resource logical ids', () => {