diff --git a/graphics/include/gz/common/Image.hh b/graphics/include/gz/common/Image.hh
index 4a30eb4c..42196def 100644
--- a/graphics/include/gz/common/Image.hh
+++ b/graphics/include/gz/common/Image.hh
@@ -85,7 +85,11 @@ namespace gz
                 BAYER_GBRG8,
                 BAYER_GRBG8,
                 COMPRESSED_PNG,
-                PIXEL_FORMAT_COUNT
+                PIXEL_FORMAT_COUNT,
+                // \todo(iche033) COMPRESSED_JPEG is added at the end to
+                // preserve ABI compatibility. Move this enum up when merging
+                // forward to main
+                COMPRESSED_JPEG
               };
 
 
diff --git a/graphics/src/AssimpLoader.cc b/graphics/src/AssimpLoader.cc
index 79f513b4..25d2e9ed 100644
--- a/graphics/src/AssimpLoader.cc
+++ b/graphics/src/AssimpLoader.cc
@@ -551,16 +551,33 @@ std::pair<ImagePtr, ImagePtr>
 ImagePtr AssimpLoader::Implementation::LoadEmbeddedTexture(
     const aiTexture* _texture) const
 {
-  auto img = std::make_shared<Image>();
   if (_texture->mHeight == 0)
   {
+    Image::PixelFormatType format = Image::PixelFormatType::UNKNOWN_PIXEL_FORMAT;
     if (_texture->CheckFormat("png"))
     {
-      img->SetFromCompressedData((unsigned char*)_texture->pcData,
-          _texture->mWidth, Image::PixelFormatType::COMPRESSED_PNG);
+      format = Image::PixelFormatType::COMPRESSED_PNG;
+    }
+    else if (_texture->CheckFormat("jpg"))
+    {
+      format = Image::PixelFormatType::COMPRESSED_JPEG;
+    }
+    if (format != Image::PixelFormatType::UNKNOWN_PIXEL_FORMAT)
+    {
+      auto img = std::make_shared<Image>();
+      img->SetFromCompressedData(
+          reinterpret_cast<unsigned char *>(_texture->pcData),
+          _texture->mWidth, format);
+      return img;
+    }
+    else
+    {
+      gzerr << "Unable to load embedded texture. "
+            << "Unsupported compressed image format"
+            << std::endl;
     }
   }
-  return img;
+  return ImagePtr();
 }
 
 //////////////////////////////////////////////////
diff --git a/graphics/src/AssimpLoader_TEST.cc b/graphics/src/AssimpLoader_TEST.cc
index fffd50f4..5df30d0f 100644
--- a/graphics/src/AssimpLoader_TEST.cc
+++ b/graphics/src/AssimpLoader_TEST.cc
@@ -644,6 +644,39 @@ TEST_F(AssimpLoader, LoadGlTF2BoxExternalTexture)
   EXPECT_EQ(testTextureFile, mat->TextureImage());
 }
 
+/////////////////////////////////////////////////
+// This test loads a box glb mesh with embedded compressed jpeg texture
+TEST_F(AssimpLoader, LoadGlTF2BoxWithJPEGTexture)
+{
+  common::AssimpLoader loader;
+  common::Mesh *mesh = loader.Load(
+      common::testing::TestFile("data", "box_texture_jpg.glb"));
+
+  EXPECT_STREQ("unknown", mesh->Name().c_str());
+  EXPECT_EQ(math::Vector3d(1, 1, 1), mesh->Max());
+  EXPECT_EQ(math::Vector3d(-1, -1, -1), mesh->Min());
+
+  EXPECT_EQ(24u, mesh->VertexCount());
+  EXPECT_EQ(24u, mesh->NormalCount());
+  EXPECT_EQ(36u, mesh->IndexCount());
+  EXPECT_EQ(24u, mesh->TexCoordCount());
+  EXPECT_EQ(1u, mesh->SubMeshCount());
+  EXPECT_EQ(1u, mesh->MaterialCount());
+
+  // Make sure we can read the submesh name
+  EXPECT_STREQ("Cube", mesh->SubMeshByIndex(0).lock()->Name().c_str());
+
+  const common::MaterialPtr mat = mesh->MaterialByIndex(0u);
+  ASSERT_TRUE(mat.get());
+
+  // Make sure we read the material color values
+  EXPECT_EQ(math::Color(0.4f, 0.4f, 0.4f, 1.0f), mat->Ambient());
+  EXPECT_EQ(math::Color(1.0f, 1.0f, 1.0f, 1.0f), mat->Diffuse());
+  EXPECT_EQ(math::Color(0.0f, 0.0f, 0.0f, 1.0f), mat->Specular());
+  EXPECT_EQ("Cube_Material_Diffuse", mat->TextureImage());
+  EXPECT_NE(nullptr, mat->TextureData());
+}
+
 /////////////////////////////////////////////////
 // Use a fully featured glb test asset, including PBR textures, emissive maps
 // embedded textures, lightmaps, animations to test advanced glb features
diff --git a/graphics/src/Image.cc b/graphics/src/Image.cc
index 2eb76154..1bbdf74f 100644
--- a/graphics/src/Image.cc
+++ b/graphics/src/Image.cc
@@ -274,10 +274,22 @@ void Image::SetFromCompressedData(unsigned char *_data,
     FreeImage_Unload(this->dataPtr->bitmap);
   this->dataPtr->bitmap = nullptr;
 
-  if (_format == COMPRESSED_PNG)
+  FREE_IMAGE_FORMAT format = FIF_UNKNOWN;
+  switch (_format)
+  {
+    case COMPRESSED_PNG:
+      format = FIF_PNG;
+      break;
+    case COMPRESSED_JPEG:
+      format = FIF_JPEG;
+      break;
+    default:
+      break;
+  }
+  if (format != FIF_UNKNOWN)
   {
     FIMEMORY *fiMem = FreeImage_OpenMemory(_data, _size);
-    this->dataPtr->bitmap = FreeImage_LoadFromMemory(FIF_PNG, fiMem);
+    this->dataPtr->bitmap = FreeImage_LoadFromMemory(format, fiMem);
     FreeImage_CloseMemory(fiMem);
   }
   else
diff --git a/test/data/box_texture_jpg.glb b/test/data/box_texture_jpg.glb
new file mode 100644
index 00000000..6260273c
Binary files /dev/null and b/test/data/box_texture_jpg.glb differ