diff --git a/ros2bag/ros2bag/verb/filter.py b/ros2bag/ros2bag/verb/filter.py
new file mode 100644
index 0000000000..030cc117d4
--- /dev/null
+++ b/ros2bag/ros2bag/verb/filter.py
@@ -0,0 +1,81 @@
+# Copyright 2021 Tier IV, Inc. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import os
+
+from ros2bag.api import check_path_exists
+from ros2bag.verb import VerbExtension
+from rosbag2_py import get_registered_readers
+from rosbag2_py import ConverterOptions
+from rosbag2_py import Reindexer
+from rosbag2_py import SequentialReader
+from rosbag2_py import SequentialWriter
+from rosbag2_py import StorageOptions
+
+
+class FilterVerb(VerbExtension):
+    """Filter by python expression."""
+
+    def _bag2filter(self, input_bag_dir: str, output_bag_dir: str,
+                    python_expr: str, storage_id: str) -> None:
+        storage_options = StorageOptions(
+            uri=input_bag_dir,
+            storage_id=storage_id,
+        )
+        converter_options = ConverterOptions(
+            input_serialization_format='cdr',
+            output_serialization_format='cdr',
+        )
+        reader = SequentialReader()
+        reader.open(storage_options, converter_options)
+
+        writer = SequentialWriter()
+        storage_options = StorageOptions(
+            uri=output_bag_dir,
+            storage_id=storage_id,
+        )
+        writer.open(storage_options, converter_options)
+
+        for topic_type in reader.get_all_topics_and_types():
+            writer.create_topic(topic_type)
+
+        filter_fn = eval('lambda topic, m, t: %s' % python_expr)
+
+        while reader.has_next():
+            topic_name, msg, stamp = reader.read_next()
+            if filter_fn(topic_name, msg, stamp):
+                writer.write(topic_name, msg, stamp)
+        del writer
+
+        Reindexer().reindex(storage_options)
+
+    def add_arguments(self, parser, cli_name):
+        storage_choices = get_registered_readers()
+        default_storage = 'sqlite3' if 'sqlite3' in storage_choices else storage_choices[0]
+        parser.add_argument(
+            'bag_directory', type=check_path_exists, help='Bag to filter')
+        parser.add_argument(
+            'output_direcory', help='Output directory')
+        parser.add_argument(
+            'python_expression', help='Python expression to filter')
+        parser.add_argument(
+            '-s', '--storage_id', default=default_storage, choices=storage_choices,
+            help=f'storage identifier to be used, defaults to {default_storage}')
+
+    def main(self, *, args):
+        if os.path.isdir(args.output_direcory):
+            raise FileExistsError(f'Output folder "{args.output_direcory}" already exists.')
+
+        self._bag2filter(args.bag_directory, args.output_direcory,
+                         args.python_expression, args.storage_id)
diff --git a/ros2bag/setup.py b/ros2bag/setup.py
index 4aa877ec9e..11a39006ad 100644
--- a/ros2bag/setup.py
+++ b/ros2bag/setup.py
@@ -38,6 +38,7 @@
             'ros2bag.verb = ros2bag.verb:VerbExtension',
         ],
         'ros2bag.verb': [
+            'filter = ros2bag.verb.filter:FilterVerb',
             'info = ros2bag.verb.info:InfoVerb',
             'list = ros2bag.verb.list:ListVerb',
             'play = ros2bag.verb.play:PlayVerb',