diff --git a/tier4_simulation_msgs/msg/TrafficLightArrayV1.msg b/tier4_simulation_msgs/msg/TrafficLightArrayV1.msg
new file mode 100644
index 00000000..fc94cf4b
--- /dev/null
+++ b/tier4_simulation_msgs/msg/TrafficLightArrayV1.msg
@@ -0,0 +1,2 @@
+uint8 minor_version = 0
+TrafficLightV1[] traffic_lights
\ No newline at end of file
diff --git a/tier4_simulation_msgs/msg/TrafficLightBulbV1.msg b/tier4_simulation_msgs/msg/TrafficLightBulbV1.msg
new file mode 100644
index 00000000..72413ecd
--- /dev/null
+++ b/tier4_simulation_msgs/msg/TrafficLightBulbV1.msg
@@ -0,0 +1,31 @@
+uint8 UNKNOWN = 0
+
+# constants for color
+uint8 RED = 1
+uint8 AMBER = 2
+uint8 GREEN = 3
+uint8 WHITE = 4
+
+# constants for shape
+uint8 CIRCLE = 1
+uint8 LEFT_ARROW = 2
+uint8 RIGHT_ARROW = 3
+uint8 UP_ARROW = 4
+uint8 UP_LEFT_ARROW=5
+uint8 UP_RIGHT_ARROW=6
+uint8 DOWN_ARROW = 7
+uint8 DOWN_LEFT_ARROW = 8
+uint8 DOWN_RIGHT_ARROW = 9
+uint8 CROSS = 10
+
+# constants for status
+uint8 SOLID_OFF = 1
+uint8 SOLID_ON = 2
+uint8 FLASHING = 3
+
+# variables
+uint8 minor_version = 0
+uint8 color
+uint8 shape
+uint8 status
+float32 confidence
\ No newline at end of file
diff --git a/tier4_simulation_msgs/msg/TrafficLightV1.msg b/tier4_simulation_msgs/msg/TrafficLightV1.msg
new file mode 100644
index 00000000..038b19dc
--- /dev/null
+++ b/tier4_simulation_msgs/msg/TrafficLightV1.msg
@@ -0,0 +1,3 @@
+uint8 minor_version = 0
+int64 lanelet_way_id
+WebAutoTrafficLightBulbV1[] traffic_light_bulbs
\ No newline at end of file