diff --git a/rosbag2_py/test/resources/sqlite3/talker/talker.db3 b/rosbag2_py/test/resources/sqlite3/talker/talker.db3
index 3af2110945..f4c12f8e73 100644
Binary files a/rosbag2_py/test/resources/sqlite3/talker/talker.db3 and b/rosbag2_py/test/resources/sqlite3/talker/talker.db3 differ
diff --git a/rosbag2_py/test/test_sequential_reader.py b/rosbag2_py/test/test_sequential_reader.py
index 8a14677992..2527e39391 100644
--- a/rosbag2_py/test/test_sequential_reader.py
+++ b/rosbag2_py/test/test_sequential_reader.py
@@ -79,9 +79,8 @@ def test_sequential_reader(storage_id):
             msg_counter += 1
 
 
-def test_get_message_definitions():
-    # TODO(morlov): store message definitions in sqlite3 storage plugin
-    storage_id = 'mcap'
+@pytest.mark.parametrize('storage_id', TESTED_STORAGE_IDS)
+def test_get_message_definitions(storage_id):
     bag_path = str(RESOURCES_PATH / storage_id / 'talker')
     storage_options, converter_options = get_rosbag_options(bag_path, storage_id)
 
diff --git a/rosbag2_storage_sqlite3/include/rosbag2_storage_sqlite3/sqlite_storage.hpp b/rosbag2_storage_sqlite3/include/rosbag2_storage_sqlite3/sqlite_storage.hpp
index cb530171fc..7397637f90 100644
--- a/rosbag2_storage_sqlite3/include/rosbag2_storage_sqlite3/sqlite_storage.hpp
+++ b/rosbag2_storage_sqlite3/include/rosbag2_storage_sqlite3/sqlite_storage.hpp
@@ -137,6 +137,8 @@ class ROSBAG2_STORAGE_DEFAULT_PLUGINS_PUBLIC SqliteStorage
   ReadQueryResult::Iterator current_message_row_ {
     nullptr, SqliteStatementWrapper::QueryResult<>::Iterator::POSITION_END};
   std::unordered_map<std::string, int> topics_ RCPPUTILS_TSA_GUARDED_BY(database_write_mutex_);
+  std::unordered_map<std::string, int> msg_definitions_ RCPPUTILS_TSA_GUARDED_BY(
+    database_write_mutex_);
   std::vector<rosbag2_storage::TopicMetadata> all_topics_and_types_;
   std::string relative_path_;
   std::atomic_bool active_transaction_ {false};
diff --git a/rosbag2_storage_sqlite3/src/rosbag2_storage_sqlite3/sqlite_storage.cpp b/rosbag2_storage_sqlite3/src/rosbag2_storage_sqlite3/sqlite_storage.cpp
index d1cdfb73bb..ac98a1dc4f 100644
--- a/rosbag2_storage_sqlite3/src/rosbag2_storage_sqlite3/sqlite_storage.cpp
+++ b/rosbag2_storage_sqlite3/src/rosbag2_storage_sqlite3/sqlite_storage.cpp
@@ -377,8 +377,17 @@ std::vector<rosbag2_storage::TopicMetadata> SqliteStorage::get_all_topics_and_ty
 void SqliteStorage::get_all_message_definitions(
   std::vector<rosbag2_storage::MessageDefinition> & definitions)
 {
-  // TODO(morlov): implement message definition storage
   definitions.clear();
+  if (db_schema_version_ < 4) {return;}
+  auto statement = database_->prepare_statement(
+    "SELECT topic_type, encoding, encoded_message_definition FROM message_definitions "
+    "ORDER BY id;");
+  auto query_results = statement->execute_query<std::string, std::string, std::string>();
+
+  for (auto result : query_results) {
+    definitions.push_back(
+      {std::get<0>(result), std::get<1>(result), std::get<2>(result)});
+  }
 }
 
 uint64_t SqliteStorage::get_bagfile_size() const
@@ -410,6 +419,14 @@ void SqliteStorage::initialize()
     "type_description_hash TEXT NOT NULL);";
   database_->prepare_statement(create_stmt)->execute_and_reset();
 
+  create_stmt = "CREATE TABLE message_definitions(" \
+    "id INTEGER PRIMARY KEY," \
+    "topic_type TEXT NOT NULL," \
+    "encoding TEXT NOT NULL," \
+    "encoded_message_definition TEXT NOT NULL," \
+    "type_description_hash TEXT NOT NULL);";
+  database_->prepare_statement(create_stmt)->execute_and_reset();
+
   create_stmt = "CREATE TABLE messages(" \
     "id INTEGER PRIMARY KEY," \
     "topic_id INTEGER NOT NULL," \
@@ -432,7 +449,6 @@ void SqliteStorage::create_topic(
   const rosbag2_storage::TopicMetadata & topic,
   const rosbag2_storage::MessageDefinition & message_definition)
 {
-  (void) message_definition;
   std::lock_guard<std::mutex> db_lock(database_write_mutex_);
   if (topics_.find(topic.name) == std::end(topics_)) {
     auto insert_topic =
@@ -448,6 +464,25 @@ void SqliteStorage::create_topic(
       topic.type_description_hash);
     insert_topic->execute_and_reset();
     topics_.emplace(topic.name, static_cast<int>(database_->get_last_insert_id()));
+
+    // TODO(morlov): Add topic.type_description_hash when it will be really calculated or getting
+    //  from service. Currently dummy hashes causing tests failure
+    std::string topic_type_and_hash = message_definition.topic_type;
+    if (!topic_type_and_hash.empty() &&
+      msg_definitions_.find(topic_type_and_hash) == std::end(msg_definitions_))
+    {
+      auto insert_msg_definition =
+        database_->prepare_statement(
+        "INSERT INTO message_definitions (topic_type, encoding, encoded_message_definition, "
+        "type_description_hash) VALUES (?, ?, ?, ?)");
+      insert_msg_definition->bind(
+        message_definition.topic_type, message_definition.encoding,
+        message_definition.encoded_message_definition, topic.type_description_hash);
+      insert_msg_definition->execute_and_reset();
+      msg_definitions_.emplace(
+        topic_type_and_hash,
+        static_cast<int>(database_->get_last_insert_id()));
+    }
   }
 }
 
diff --git a/rosbag2_storage_sqlite3/test/rosbag2_storage_sqlite3/test_sqlite_storage.cpp b/rosbag2_storage_sqlite3/test/rosbag2_storage_sqlite3/test_sqlite_storage.cpp
index 7c30a833e9..d83e774a1e 100644
--- a/rosbag2_storage_sqlite3/test/rosbag2_storage_sqlite3/test_sqlite_storage.cpp
+++ b/rosbag2_storage_sqlite3/test/rosbag2_storage_sqlite3/test_sqlite_storage.cpp
@@ -195,6 +195,41 @@ TEST_F(StorageTestFixture, get_all_topics_and_types_returns_the_correct_vector)
   }));
 }
 
+TEST_F(StorageTestFixture, get_all_message_definitions_returns_the_correct_vector) {
+  const rosbag2_storage::MessageDefinition msg_definition =
+  {"type1", "ros2msg", "string data"};
+  std::unique_ptr<rosbag2_storage::storage_interfaces::ReadWriteInterface> writable_storage =
+    std::make_unique<rosbag2_storage_plugins::SqliteStorage>();
+
+  // extension is omitted since storage is being created; io_flag = READ_WRITE
+  const auto read_write_filename = (rcpputils::fs::path(temporary_dir_path_) / "rosbag").string();
+
+  writable_storage->open({read_write_filename, kPluginID});
+  writable_storage->create_topic(
+    {"topic1", "type1", "rmw1", "qos_profile1", "type_hash1"},
+    msg_definition);
+  writable_storage->create_topic(
+    {"topic2", "type2", "rmw2", "qos_profile2", "type_hash2"},
+    msg_definition);
+
+  const auto read_only_filename = writable_storage->get_relative_file_path();
+
+  writable_storage.reset();
+
+  auto readable_storage = std::make_unique<rosbag2_storage_plugins::SqliteStorage>();
+  readable_storage->open(
+    {read_only_filename, kPluginID},
+    rosbag2_storage::storage_interfaces::IOFlag::READ_ONLY);
+
+  std::vector<rosbag2_storage::MessageDefinition> msg_definitions;
+  readable_storage->get_all_message_definitions(msg_definitions);
+
+  EXPECT_EQ(msg_definitions.size(), 1u);
+  EXPECT_THAT(msg_definitions, ElementsAreArray({msg_definition})) <<
+    msg_definition.topic_type << " " << msg_definition.encoding << " " <<
+    msg_definition.encoded_message_definition;
+}
+
 TEST_F(StorageTestFixture, get_metadata_returns_correct_struct) {
   auto writable_storage = std::make_shared<rosbag2_storage_plugins::SqliteStorage>();
   auto read_write_filename = (rcpputils::fs::path(temporary_dir_path_) / "rosbag").string();