diff --git a/packages/eslint-plugin/src/rules/typedef.ts b/packages/eslint-plugin/src/rules/typedef.ts
index 89ef30f54e5..4bd69d9a479 100644
--- a/packages/eslint-plugin/src/rules/typedef.ts
+++ b/packages/eslint-plugin/src/rules/typedef.ts
@@ -178,7 +178,11 @@ export default util.createRule<[Options], MessageIds>({
             return;
           }
 
-          if (!node.typeAnnotation && !isForOfStatementContext(node)) {
+          if (
+            !node.typeAnnotation &&
+            !isForOfStatementContext(node) &&
+            node.parent?.type !== AST_NODE_TYPES.AssignmentExpression
+          ) {
             report(node);
           }
         },
diff --git a/packages/eslint-plugin/tests/rules/typedef.test.ts b/packages/eslint-plugin/tests/rules/typedef.test.ts
index d1bae842614..19b6ff5a543 100644
--- a/packages/eslint-plugin/tests/rules/typedef.test.ts
+++ b/packages/eslint-plugin/tests/rules/typedef.test.ts
@@ -47,7 +47,31 @@ ruleTester.run('typedef', rule, {
       ],
     },
     {
-      code: 'const [a] = 1;',
+      code: '[a] = [1];',
+      options: [
+        {
+          arrayDestructuring: true,
+        },
+      ],
+    },
+    {
+      code: 'b = [a] = [1];',
+      options: [
+        {
+          arrayDestructuring: true,
+        },
+      ],
+    },
+    {
+      code: 'const [b]: [number] = ([a] = [1]);',
+      options: [
+        {
+          arrayDestructuring: true,
+        },
+      ],
+    },
+    {
+      code: 'const [a] = [1];',
       options: [
         {
           arrayDestructuring: false,