This invention relates to methods and devices for timing synchronization. The invention has particular application where timing is being carried out over packet networks using, for example, the IEEE 1588 Precision Time Protocol (PTP). Embodiments of the invention make use of estimated forward and reverse path delay asymmetries directly in the estimation algorithm (for example a Kalman filter). This can allow the variation in the timestamps which have been compensated for the delay asymmetry to be significantly reduced, which can reduce the complexity of the phase offset estimation algorithm.