diff --git a/python/pyarrow/src/arrow/python/arrow_to_pandas.cc b/python/pyarrow/src/arrow/python/arrow_to_pandas.cc
index 6e12bb1962db1..f3cee6c65e781 100644
--- a/python/pyarrow/src/arrow/python/arrow_to_pandas.cc
+++ b/python/pyarrow/src/arrow/python/arrow_to_pandas.cc
@@ -1074,11 +1074,23 @@ struct ObjectWriterVisitor {
     auto ConvertTimezoneAware = [&](typename Type::c_type value, PyObject** out) {
       PyObject* naive_datetime;
       RETURN_NOT_OK(ConvertTimezoneNaive(value, &naive_datetime));
+
       // convert the timezone naive datetime object to timezone aware
-      *out = PyObject_CallMethod(tzinfo.obj(), "fromutc", "O", naive_datetime);
+      // two step conversion of the datetime mimics Python's code:
+      // dt.replace(tzinfo=datetime.timezone.utc).astimezone(tzinfo)
+      // first step: replacing timezone with timezone.utc (replace method)
+      OwnedRef args(PyTuple_New(0));
+      OwnedRef keywords(PyDict_New());
+      PyDict_SetItemString(keywords.obj(), "tzinfo", PyDateTime_TimeZone_UTC);
+      OwnedRef naive_datetime_replace(PyObject_GetAttrString(naive_datetime, "replace"));
+      OwnedRef datetime_utc(PyObject_Call(naive_datetime_replace.obj(), args.obj(), keywords.obj()));
+      // second step: adjust the datetime to tzinfo timezone (astimezone method)
+      *out = PyObject_CallMethod(datetime_utc.obj(), "astimezone", "O", tzinfo.obj());
+
       // the timezone naive object is no longer required
       Py_DECREF(naive_datetime);
       RETURN_IF_PYERROR();
+
       return Status::OK();
     };
 
diff --git a/python/pyarrow/tests/test_pandas.py b/python/pyarrow/tests/test_pandas.py
index f843904f12646..22deb63306bce 100644
--- a/python/pyarrow/tests/test_pandas.py
+++ b/python/pyarrow/tests/test_pandas.py
@@ -4472,6 +4472,18 @@ def test_timestamp_as_object_non_nanosecond(resolution, tz, dt):
         assert result[0] == expected
 
 
+def test_timestamp_as_object_fixed_offset():
+    # ARROW-16547 to_pandas with timestamp_as_object=True and FixedOffset
+    pytz = pytest.importorskip("pytz")
+    import datetime
+    timezone = pytz.FixedOffset(120)
+    dt = timezone.localize(datetime.datetime(2022, 5, 12, 16, 57))
+
+    table = pa.table({"timestamp_col": pa.array([dt])})
+    result = table.to_pandas(timestamp_as_object=True)
+    assert pa.table(result) == table
+
+
 def test_threaded_pandas_import():
     invoke_script("pandas_threaded_import.py")