diff --git a/dm_env/specs.py b/dm_env/specs.py
index 0dc989a..c0433fd 100644
--- a/dm_env/specs.py
+++ b/dm_env/specs.py
@@ -256,8 +256,12 @@ def validate(self, value):
     return value
 
   def generate_value(self):
-    return (np.ones(shape=self.shape, dtype=self.dtype) *
-            self.dtype.type(self.minimum))
+    """Generate a random value within [minimum, maximum] that matches this spec."""
+    return np.random.uniform(
+        low=self.minimum,
+        high=self.maximum,
+        size=self.shape
+    ).astype(self.dtype)
 
   def __reduce__(self):
     return BoundedArray, (self._shape, self._dtype, self._minimum,
diff --git a/dm_env/tests/test_bounded_array.py b/dm_env/tests/test_bounded_array.py
new file mode 100644
index 0000000..9024c7a
--- /dev/null
+++ b/dm_env/tests/test_bounded_array.py
@@ -0,0 +1,16 @@
+import numpy as np
+from dm_env import specs
+
+def test_generate_value_within_bounds():
+    spec = specs.BoundedArray(
+        shape=(2, 2),
+        dtype=np.float32,
+        minimum=0.0,
+        maximum=5.0
+    )
+    value = spec.generate_value()
+
+    assert value.shape == (2, 2)
+    assert value.dtype == np.float32
+    assert np.all(value >= 0.0)
+    assert np.all(value <= 5.0)