diff --git a/packages/eslint-plugin/src/rules/typedef.ts b/packages/eslint-plugin/src/rules/typedef.ts
index 602df98e060..700fd347c77 100644
--- a/packages/eslint-plugin/src/rules/typedef.ts
+++ b/packages/eslint-plugin/src/rules/typedef.ts
@@ -175,8 +175,7 @@ export default util.createRule<[Options], MessageIds>({
       ...(memberVariableDeclaration && {
         PropertyDefinition(node): void {
           if (
-            !node.value ||
-            !isVariableDeclarationIgnoreFunction(node.value) ||
+            !(node.value && isVariableDeclarationIgnoreFunction(node.value)) &&
             !node.typeAnnotation
           ) {
             report(
diff --git a/packages/eslint-plugin/tests/rules/typedef.test.ts b/packages/eslint-plugin/tests/rules/typedef.test.ts
index 09a4764a0ba..e237ff68636 100644
--- a/packages/eslint-plugin/tests/rules/typedef.test.ts
+++ b/packages/eslint-plugin/tests/rules/typedef.test.ts
@@ -442,6 +442,24 @@ class Foo {
         },
       ],
     },
+    // https://github.com/typescript-eslint/typescript-eslint/issues/4033
+    {
+      code: `
+class ClassName {
+  public str: string = 'str';
+  #num: number = 13;
+
+  func: () => void = (): void => {
+    console.log(this.str);
+  };
+}
+      `,
+      options: [
+        {
+          memberVariableDeclaration: true,
+        },
+      ],
+    },
   ],
   invalid: [
     // Array destructuring