diff --git a/internal/__snapshots__/exportTypeScriptSchemas.test.ts.snap b/internal/__snapshots__/exportTypeScriptSchemas.test.ts.snap
index bf8ccb0..a65eb81 100644
--- a/internal/__snapshots__/exportTypeScriptSchemas.test.ts.snap
+++ b/internal/__snapshots__/exportTypeScriptSchemas.test.ts.snap
@@ -174,6 +174,29 @@ export type CompressedImage = {
    */
   format: string;
 };
+",
+  "CompressedVideo" => "// Generated by https://github.com/foxglove/schemas
+
+import { Time } from "./Time";
+
+/** A single frame of a compressed video bitstream */
+export type CompressedVideo = {
+  /** Timestamp of image */
+  timestamp: Time;
+
+  /** Frame of reference for the image. The origin of the frame is the optical center of the camera. +x points to the right in the image, +y points down, and +z points into the plane of the image. */
+  frame_id: string;
+
+  /** Compressed video frame data. For packet-based video codecs this data must begin and end on packet boundaries (no partial packets), and must contain enough video packets to decode exactly one image (either a keyframe or delta frame). */
+  data: Uint8Array;
+
+  /**
+   * Video format
+   * 
+   * Supported values: \`h264\`
+   */
+  format: string;
+};
 ",
   "CylinderPrimitive" => "// Generated by https://github.com/foxglove/schemas
 
@@ -999,6 +1022,7 @@ export * from "./CameraCalibration";
 export * from "./CircleAnnotation";
 export * from "./Color";
 export * from "./CompressedImage";
+export * from "./CompressedVideo";
 export * from "./CubePrimitive";
 export * from "./CylinderPrimitive";
 export * from "./FrameTransform";
diff --git a/internal/schemas.ts b/internal/schemas.ts
index b538739..446eeca 100644
--- a/internal/schemas.ts
+++ b/internal/schemas.ts
@@ -790,6 +790,36 @@ const CompressedImage: FoxgloveMessageSchema = {
   ],
 };
 
+const CompressedVideo: FoxgloveMessageSchema = {
+  type: "message",
+  name: "CompressedVideo",
+  description: "A single frame of a compressed video bitstream",
+  fields: [
+    {
+      name: "timestamp",
+      type: { type: "primitive", name: "time" },
+      description: "Timestamp of image",
+    },
+    {
+      name: "frame_id",
+      type: { type: "primitive", name: "string" },
+      description:
+        "Frame of reference for the image. The origin of the frame is the optical center of the camera. +x points to the right in the image, +y points down, and +z points into the plane of the image.",
+    },
+    {
+      name: "data",
+      type: { type: "primitive", name: "bytes" },
+      description:
+        "Compressed video frame data. For packet-based video codecs this data must begin and end on packet boundaries (no partial packets), and must contain enough video packets to decode exactly one image (either a keyframe or delta frame).",
+    },
+    {
+      name: "format",
+      type: { type: "primitive", name: "string" },
+      description: "Video format\n\nSupported values: `h264`",
+    },
+  ],
+};
+
 const RawImage: FoxgloveMessageSchema = {
   type: "message",
   name: "RawImage",
@@ -1425,6 +1455,7 @@ export const foxgloveMessageSchemas = {
   CircleAnnotation,
   Color,
   CompressedImage,
+  CompressedVideo,
   CylinderPrimitive,
   CubePrimitive,
   FrameTransform,
diff --git a/ros_foxglove_msgs/ros1/CompressedVideo.msg b/ros_foxglove_msgs/ros1/CompressedVideo.msg
new file mode 100644
index 0000000..991c967
--- /dev/null
+++ b/ros_foxglove_msgs/ros1/CompressedVideo.msg
@@ -0,0 +1,18 @@
+# foxglove_msgs/CompressedVideo
+# A single frame of a compressed video bitstream
+
+# Generated by https://github.com/foxglove/schemas
+
+# Timestamp of image
+time timestamp
+
+# Frame of reference for the image. The origin of the frame is the optical center of the camera. +x points to the right in the image, +y points down, and +z points into the plane of the image.
+string frame_id
+
+# Compressed video frame data. For packet-based video codecs this data must begin and end on packet boundaries (no partial packets), and must contain enough video packets to decode exactly one image (either a keyframe or delta frame).
+uint8[] data
+
+# Video format
+# 
+# Supported values: `h264`
+string format
diff --git a/ros_foxglove_msgs/ros2/CompressedVideo.msg b/ros_foxglove_msgs/ros2/CompressedVideo.msg
new file mode 100644
index 0000000..03379ff
--- /dev/null
+++ b/ros_foxglove_msgs/ros2/CompressedVideo.msg
@@ -0,0 +1,18 @@
+# foxglove_msgs/msg/CompressedVideo
+# A single frame of a compressed video bitstream
+
+# Generated by https://github.com/foxglove/schemas
+
+# Timestamp of image
+builtin_interfaces/Time timestamp
+
+# Frame of reference for the image. The origin of the frame is the optical center of the camera. +x points to the right in the image, +y points down, and +z points into the plane of the image.
+string frame_id
+
+# Compressed video frame data. For packet-based video codecs this data must begin and end on packet boundaries (no partial packets), and must contain enough video packets to decode exactly one image (either a keyframe or delta frame).
+uint8[] data
+
+# Video format
+# 
+# Supported values: `h264`
+string format
diff --git a/schemas/README.md b/schemas/README.md
index adb0ed5..05ba776 100644
--- a/schemas/README.md
+++ b/schemas/README.md
@@ -17,6 +17,7 @@ All schemas are generated from [schemas.ts](/internal/schemas.ts).
 - [CircleAnnotation](#circleannotation)
 - [Color](#color)
 - [CompressedImage](#compressedimage)
+- [CompressedVideo](#compressedvideo)
 - [CubePrimitive](#cubeprimitive)
 - [CylinderPrimitive](#cylinderprimitive)
 - [FrameTransform](#frametransform)
@@ -614,6 +615,72 @@ Supported values: `webp`, `jpeg`, `png`
 </tr>
 </table>
 
+## CompressedVideo
+
+A single frame of a compressed video bitstream
+
+<table>
+  <tr>
+    <th>field</th>
+    <th>type</th>
+    <th>description</th>
+  </tr>
+<tr>
+<td><code>timestamp</code></td>
+<td>
+
+time
+
+</td>
+<td>
+
+Timestamp of image
+
+</td>
+</tr>
+<tr>
+<td><code>frame_id</code></td>
+<td>
+
+string
+
+</td>
+<td>
+
+Frame of reference for the image. The origin of the frame is the optical center of the camera. +x points to the right in the image, +y points down, and +z points into the plane of the image.
+
+</td>
+</tr>
+<tr>
+<td><code>data</code></td>
+<td>
+
+bytes
+
+</td>
+<td>
+
+Compressed video frame data. For packet-based video codecs this data must begin and end on packet boundaries (no partial packets), and must contain enough video packets to decode exactly one image (either a keyframe or delta frame).
+
+</td>
+</tr>
+<tr>
+<td><code>format</code></td>
+<td>
+
+string
+
+</td>
+<td>
+
+Video format
+
+Supported values: `h264`
+
+</td>
+</tr>
+</table>
+
 ## CubePrimitive
 
 A primitive representing a cube or rectangular prism
diff --git a/schemas/flatbuffer/CompressedVideo.fbs b/schemas/flatbuffer/CompressedVideo.fbs
new file mode 100644
index 0000000..de3a482
--- /dev/null
+++ b/schemas/flatbuffer/CompressedVideo.fbs
@@ -0,0 +1,24 @@
+// Generated by https://github.com/foxglove/schemas
+
+include "Time.fbs";
+
+namespace foxglove;
+
+/// A single frame of a compressed video bitstream
+table CompressedVideo {
+  /// Timestamp of image
+  timestamp:Time;
+
+  /// Frame of reference for the image. The origin of the frame is the optical center of the camera. +x points to the right in the image, +y points down, and +z points into the plane of the image.
+  frame_id:string;
+
+  /// Compressed video frame data. For packet-based video codecs this data must begin and end on packet boundaries (no partial packets), and must contain enough video packets to decode exactly one image (either a keyframe or delta frame).
+  data:[uint8];
+
+  /// Video format
+  /// 
+  /// Supported values: `h264`
+  format:string;
+}
+
+root_type CompressedVideo;
diff --git a/schemas/jsonschema/CompressedVideo.json b/schemas/jsonschema/CompressedVideo.json
new file mode 100644
index 0000000..21f167b
--- /dev/null
+++ b/schemas/jsonschema/CompressedVideo.json
@@ -0,0 +1,37 @@
+{
+  "title": "foxglove.CompressedVideo",
+  "description": "A single frame of a compressed video bitstream",
+  "$comment": "Generated by https://github.com/foxglove/schemas",
+  "type": "object",
+  "properties": {
+    "timestamp": {
+      "type": "object",
+      "title": "time",
+      "properties": {
+        "sec": {
+          "type": "integer",
+          "minimum": 0
+        },
+        "nsec": {
+          "type": "integer",
+          "minimum": 0,
+          "maximum": 999999999
+        }
+      },
+      "description": "Timestamp of image"
+    },
+    "frame_id": {
+      "type": "string",
+      "description": "Frame of reference for the image. The origin of the frame is the optical center of the camera. +x points to the right in the image, +y points down, and +z points into the plane of the image."
+    },
+    "data": {
+      "type": "string",
+      "contentEncoding": "base64",
+      "description": "Compressed video frame data. For packet-based video codecs this data must begin and end on packet boundaries (no partial packets), and must contain enough video packets to decode exactly one image (either a keyframe or delta frame)."
+    },
+    "format": {
+      "type": "string",
+      "description": "Video format\n\nSupported values: `h264`"
+    }
+  }
+}
diff --git a/schemas/jsonschema/index.ts b/schemas/jsonschema/index.ts
index 20426c9..c168153 100644
--- a/schemas/jsonschema/index.ts
+++ b/schemas/jsonschema/index.ts
@@ -331,6 +331,44 @@ export const CompressedImage = {
   }
 };
 
+export const CompressedVideo = {
+  "title": "foxglove.CompressedVideo",
+  "description": "A single frame of a compressed video bitstream",
+  "$comment": "Generated by https://github.com/foxglove/schemas",
+  "type": "object",
+  "properties": {
+    "timestamp": {
+      "type": "object",
+      "title": "time",
+      "properties": {
+        "sec": {
+          "type": "integer",
+          "minimum": 0
+        },
+        "nsec": {
+          "type": "integer",
+          "minimum": 0,
+          "maximum": 999999999
+        }
+      },
+      "description": "Timestamp of image"
+    },
+    "frame_id": {
+      "type": "string",
+      "description": "Frame of reference for the image. The origin of the frame is the optical center of the camera. +x points to the right in the image, +y points down, and +z points into the plane of the image."
+    },
+    "data": {
+      "type": "string",
+      "contentEncoding": "base64",
+      "description": "Compressed video frame data. For packet-based video codecs this data must begin and end on packet boundaries (no partial packets), and must contain enough video packets to decode exactly one image (either a keyframe or delta frame)."
+    },
+    "format": {
+      "type": "string",
+      "description": "Video format\n\nSupported values: `h264`"
+    }
+  }
+};
+
 export const CylinderPrimitive = {
   "title": "foxglove.CylinderPrimitive",
   "description": "A primitive representing a cylinder, elliptic cylinder, or truncated cone",
diff --git a/schemas/proto/foxglove/CompressedVideo.proto b/schemas/proto/foxglove/CompressedVideo.proto
new file mode 100644
index 0000000..9d61961
--- /dev/null
+++ b/schemas/proto/foxglove/CompressedVideo.proto
@@ -0,0 +1,24 @@
+// Generated by https://github.com/foxglove/schemas
+
+syntax = "proto3";
+
+import "google/protobuf/timestamp.proto";
+
+package foxglove;
+
+// A single frame of a compressed video bitstream
+message CompressedVideo {
+  // Timestamp of image
+  google.protobuf.Timestamp timestamp = 1;
+
+  // Frame of reference for the image. The origin of the frame is the optical center of the camera. +x points to the right in the image, +y points down, and +z points into the plane of the image.
+  string frame_id = 2;
+
+  // Compressed video frame data. For packet-based video codecs this data must begin and end on packet boundaries (no partial packets), and must contain enough video packets to decode exactly one image (either a keyframe or delta frame).
+  bytes data = 3;
+
+  // Video format
+  // 
+  // Supported values: `h264`
+  string format = 4;
+}
diff --git a/schemas/ros1/CompressedVideo.msg b/schemas/ros1/CompressedVideo.msg
new file mode 100644
index 0000000..991c967
--- /dev/null
+++ b/schemas/ros1/CompressedVideo.msg
@@ -0,0 +1,18 @@
+# foxglove_msgs/CompressedVideo
+# A single frame of a compressed video bitstream
+
+# Generated by https://github.com/foxglove/schemas
+
+# Timestamp of image
+time timestamp
+
+# Frame of reference for the image. The origin of the frame is the optical center of the camera. +x points to the right in the image, +y points down, and +z points into the plane of the image.
+string frame_id
+
+# Compressed video frame data. For packet-based video codecs this data must begin and end on packet boundaries (no partial packets), and must contain enough video packets to decode exactly one image (either a keyframe or delta frame).
+uint8[] data
+
+# Video format
+# 
+# Supported values: `h264`
+string format
diff --git a/schemas/ros2/CompressedVideo.msg b/schemas/ros2/CompressedVideo.msg
new file mode 100644
index 0000000..03379ff
--- /dev/null
+++ b/schemas/ros2/CompressedVideo.msg
@@ -0,0 +1,18 @@
+# foxglove_msgs/msg/CompressedVideo
+# A single frame of a compressed video bitstream
+
+# Generated by https://github.com/foxglove/schemas
+
+# Timestamp of image
+builtin_interfaces/Time timestamp
+
+# Frame of reference for the image. The origin of the frame is the optical center of the camera. +x points to the right in the image, +y points down, and +z points into the plane of the image.
+string frame_id
+
+# Compressed video frame data. For packet-based video codecs this data must begin and end on packet boundaries (no partial packets), and must contain enough video packets to decode exactly one image (either a keyframe or delta frame).
+uint8[] data
+
+# Video format
+# 
+# Supported values: `h264`
+string format
diff --git a/schemas/typescript/CompressedVideo.ts b/schemas/typescript/CompressedVideo.ts
new file mode 100644
index 0000000..bc3482a
--- /dev/null
+++ b/schemas/typescript/CompressedVideo.ts
@@ -0,0 +1,22 @@
+// Generated by https://github.com/foxglove/schemas
+
+import { Time } from "./Time";
+
+/** A single frame of a compressed video bitstream */
+export type CompressedVideo = {
+  /** Timestamp of image */
+  timestamp: Time;
+
+  /** Frame of reference for the image. The origin of the frame is the optical center of the camera. +x points to the right in the image, +y points down, and +z points into the plane of the image. */
+  frame_id: string;
+
+  /** Compressed video frame data. For packet-based video codecs this data must begin and end on packet boundaries (no partial packets), and must contain enough video packets to decode exactly one image (either a keyframe or delta frame). */
+  data: Uint8Array;
+
+  /**
+   * Video format
+   * 
+   * Supported values: `h264`
+   */
+  format: string;
+};
diff --git a/schemas/typescript/index.ts b/schemas/typescript/index.ts
index f35731a..17d8755 100644
--- a/schemas/typescript/index.ts
+++ b/schemas/typescript/index.ts
@@ -3,6 +3,7 @@ export * from "./CameraCalibration";
 export * from "./CircleAnnotation";
 export * from "./Color";
 export * from "./CompressedImage";
+export * from "./CompressedVideo";
 export * from "./CubePrimitive";
 export * from "./CylinderPrimitive";
 export * from "./FrameTransform";