Obtain packet timestamp through ioctl call on socket file descriptor

I'm working on a system running embedded linux. I'm trying to obtain the packet timestamp from a stream I'm receiving on a socket.

After creating the socket, I do the following:

if (fd != -1) {
    int enabled = 1;
    setsockopt(fd, SOL_SOCKET, SO_TIMESTAMP, &enabled, sizeof(enabled);
}

After that I bind the socket, the socket is of type SOCK_STREAM. I successfully receive data on the socket, by calling the function recv(fd, buf, size, 0). Now in order to obtain the timestamp of the received data, I'm currently trying the following:

ret = recv(fd, buf, size, 0);
if (ret > 0) {
    struct timeval tv_ioctl;
    tv_ioctl.tv_sec = 0;
    tv_ioctl.tv_usec = 0;
    int error = ioctl(fd, SO_TIMESTAMP, &tv_ioctl);
    printf("%ld.%ld - error = %d", (long int)tv_ioctl.tv_sec, 
            (long int)tv_ioctl.tv_usec, error);
}

The output of the printf statement is always the following:

0.0 error = -1

The error = -1 indicates that the ioctl call has failed. I've performed a test with getsockopt to check if the SO_TIMESTAMP option is set, getsockopt returns 0 for the option SO_TIMESTAMP so it seems correctly set. I'm a bit lost here, how can I further investigate why the ioctl call seems to be failing?