diff --git a/lib/rules/require-default-prop.js b/lib/rules/require-default-prop.js
index e0e29b69e..d35c2f8ea 100644
--- a/lib/rules/require-default-prop.js
+++ b/lib/rules/require-default-prop.js
@@ -5,7 +5,9 @@
 'use strict'
 
 /**
+ * @typedef {import('../utils').ComponentArrayProp} ComponentArrayProp
  * @typedef {import('../utils').ComponentObjectProp} ComponentObjectProp
+ * @typedef {import('../utils').ComponentTypeProp} ComponentTypeProp
  * @typedef {ComponentObjectProp & { value: ObjectExpression} } ComponentObjectPropObject
  */
 
@@ -35,7 +37,10 @@ module.exports = {
       url: 'https://eslint.vuejs.org/rules/require-default-prop.html'
     },
     fixable: null, // or "code" or "whitespace"
-    schema: []
+    schema: [],
+    messages: {
+      missingDefault: `Prop '{{propName}}' requires default value to be set.`
+    }
   },
   /** @param {RuleContext} context */
   create(context) {
@@ -45,11 +50,11 @@ module.exports = {
 
     /**
      * Checks if the passed prop is required
-     * @param {ComponentObjectPropObject} prop - Property AST node for a single prop
+     * @param {ObjectExpression} propValue - ObjectExpression AST node for a single prop
      * @return {boolean}
      */
-    function propIsRequired(prop) {
-      const propRequiredNode = prop.value.properties.find(
+    function propIsRequired(propValue) {
+      const propRequiredNode = propValue.properties.find(
         (p) =>
           p.type === 'Property' &&
           utils.getStaticPropertyName(p) === 'required' &&
@@ -62,11 +67,11 @@ module.exports = {
 
     /**
      * Checks if the passed prop has a default value
-     * @param {ComponentObjectPropObject} prop - Property AST node for a single prop
+     * @param {ObjectExpression} propValue - ObjectExpression AST node for a single prop
      * @return {boolean}
      */
-    function propHasDefault(prop) {
-      const propDefaultNode = prop.value.properties.find(
+    function propHasDefault(propValue) {
+      const propDefaultNode = propValue.properties.find(
         (p) =>
           p.type === 'Property' && utils.getStaticPropertyName(p) === 'default'
       )
@@ -75,32 +80,27 @@ module.exports = {
     }
 
     /**
-     * Finds all props that don't have a default value set
-     * @param {ComponentObjectProp[]} props - Vue component's "props" node
-     * @return {ComponentObjectProp[]} Array of props without "default" value
+     * Checks whether the given props that don't have a default value
+     * @param {ComponentObjectProp} prop Vue component's "props" node
+     * @return {boolean}
      */
-    function findPropsWithoutDefaultValue(props) {
-      return props.filter((prop) => {
-        if (prop.value.type !== 'ObjectExpression') {
-          if (prop.value.type === 'Identifier') {
-            return NATIVE_TYPES.has(prop.value.name)
-          }
-          if (
-            prop.value.type === 'CallExpression' ||
-            prop.value.type === 'MemberExpression'
-          ) {
-            // OK
-            return false
-          }
-          // NG
-          return true
+    function isWithoutDefaultValue(prop) {
+      if (prop.value.type !== 'ObjectExpression') {
+        if (prop.value.type === 'Identifier') {
+          return NATIVE_TYPES.has(prop.value.name)
+        }
+        if (
+          prop.value.type === 'CallExpression' ||
+          prop.value.type === 'MemberExpression'
+        ) {
+          // OK
+          return false
         }
+        // NG
+        return true
+      }
 
-        return (
-          !propIsRequired(/** @type {ComponentObjectPropObject} */ (prop)) &&
-          !propHasDefault(/** @type {ComponentObjectPropObject} */ (prop))
-        )
-      })
+      return !propIsRequired(prop.value) && !propHasDefault(prop.value)
     }
 
     /**
@@ -145,46 +145,66 @@ module.exports = {
     }
 
     /**
-     * Excludes purely Boolean props from the Array
-     * @param {ComponentObjectProp[]} props - Array with props
-     * @return {ComponentObjectProp[]}
+     * @param {(ComponentArrayProp | ComponentObjectProp | ComponentTypeProp)[]} props
+     * @param {boolean} [withDefaults]
+     * @param { { [key: string]: Expression | undefined } } [withDefaultsExpressions]
      */
-    function excludeBooleanProps(props) {
-      return props.filter((prop) => !isBooleanProp(prop))
+    function processProps(props, withDefaults, withDefaultsExpressions) {
+      for (const prop of props) {
+        if (prop.type === 'object' && !prop.node.shorthand) {
+          if (!isWithoutDefaultValue(prop)) {
+            continue
+          }
+          if (isBooleanProp(prop)) {
+            continue
+          }
+          const propName =
+            prop.propName != null
+              ? prop.propName
+              : `[${context.getSourceCode().getText(prop.node.key)}]`
+
+          context.report({
+            node: prop.node,
+            messageId: `missingDefault`,
+            data: {
+              propName
+            }
+          })
+        } else if (
+          prop.type === 'type' &&
+          withDefaults &&
+          withDefaultsExpressions
+        ) {
+          if (!withDefaultsExpressions[prop.propName]) {
+            context.report({
+              node: prop.node,
+              messageId: `missingDefault`,
+              data: {
+                propName: prop.propName
+              }
+            })
+          }
+        }
+      }
     }
 
     // ----------------------------------------------------------------------
     // Public
     // ----------------------------------------------------------------------
 
-    return utils.executeOnVue(context, (obj) => {
-      const props = utils
-        .getComponentProps(obj)
-        .filter(
-          (prop) =>
-            prop.value &&
-            !(prop.node.type === 'Property' && prop.node.shorthand)
-        )
-
-      const propsWithoutDefault = findPropsWithoutDefaultValue(
-        /** @type {ComponentObjectProp[]} */ (props)
-      )
-      const propsToReport = excludeBooleanProps(propsWithoutDefault)
-
-      for (const prop of propsToReport) {
-        const propName =
-          prop.propName != null
-            ? prop.propName
-            : `[${context.getSourceCode().getText(prop.node.key)}]`
-
-        context.report({
-          node: prop.node,
-          message: `Prop '{{propName}}' requires default value to be set.`,
-          data: {
-            propName
-          }
-        })
-      }
-    })
+    return utils.compositingVisitors(
+      utils.defineScriptSetupVisitor(context, {
+        onDefinePropsEnter(node, props) {
+          processProps(
+            props,
+            utils.hasWithDefaults(node),
+            utils.getWithDefaultsPropExpressions(node)
+          )
+        }
+      }),
+      utils.executeOnVue(context, (obj) => {
+        processProps(utils.getComponentProps(obj))
+      })
+    )
   }
 }
diff --git a/lib/utils/index.js b/lib/utils/index.js
index 0b93ef9c4..082569748 100644
--- a/lib/utils/index.js
+++ b/lib/utils/index.js
@@ -1177,19 +1177,20 @@ module.exports = {
     return scriptSetupVisitor
   },
 
+  /**
+   * Checks whether given defineProps call node has withDefaults.
+   * @param {CallExpression} node The node of defineProps
+   * @returns {node is CallExpression & { parent: CallExpression }}
+   */
+  hasWithDefaults,
+
   /**
    * Gets a map of the expressions defined in withDefaults.
    * @param {CallExpression} node The node of defineProps
    * @returns { { [key: string]: Expression | undefined } }
    */
   getWithDefaultsPropExpressions(node) {
-    if (
-      !node.parent ||
-      node.parent.type !== 'CallExpression' ||
-      node.parent.arguments[0] !== node ||
-      node.parent.callee.type !== 'Identifier' ||
-      node.parent.callee.name !== 'withDefaults'
-    ) {
+    if (!hasWithDefaults(node)) {
       return {}
     }
     const param = node.parent.arguments[1]
@@ -2422,6 +2423,21 @@ function hasDirective(node, name, argument) {
   return Boolean(getDirective(node, name, argument))
 }
 
+/**
+ * Checks whether given defineProps call node has withDefaults.
+ * @param {CallExpression} node The node of defineProps
+ * @returns {node is CallExpression & { parent: CallExpression }}
+ */
+function hasWithDefaults(node) {
+  return (
+    node.parent &&
+    node.parent.type === 'CallExpression' &&
+    node.parent.arguments[0] === node &&
+    node.parent.callee.type === 'Identifier' &&
+    node.parent.callee.name === 'withDefaults'
+  )
+}
+
 /**
  * Get all props by looking at all component's properties
  * @param {ObjectExpression|ArrayExpression} propsNode Object with props definition
diff --git a/tests/lib/rules/require-default-prop.js b/tests/lib/rules/require-default-prop.js
index dcd551560..d93c5e5da 100644
--- a/tests/lib/rules/require-default-prop.js
+++ b/tests/lib/rules/require-default-prop.js
@@ -8,6 +8,7 @@
 // Requirements
 // ------------------------------------------------------------------------------
 
+const semver = require('semver')
 const rule = require('../../../lib/rules/require-default-prop')
 const RuleTester = require('eslint').RuleTester
 const parserOptions = {
@@ -181,6 +182,14 @@ ruleTester.run('require-default-prop', rule, {
         }
       `
     },
+    {
+      filename: 'test.vue',
+      code: `
+      export default {
+        props: ['foo']
+      }`,
+      parserOptions
+    },
 
     // sparse array
     {
@@ -195,6 +204,83 @@ ruleTester.run('require-default-prop', rule, {
           }
         }
       `
+    },
+    {
+      filename: 'test.vue',
+      code: `
+      <script setup>
+      defineProps({
+        foo: {
+          type: String,
+          default: ''
+        }
+      })
+      </script>
+      `,
+      parser: require.resolve('vue-eslint-parser'),
+      parserOptions
+    },
+    {
+      filename: 'test.vue',
+      code: `
+      <script setup>
+      defineProps(['foo'])
+      </script>
+      `,
+      parser: require.resolve('vue-eslint-parser'),
+      parserOptions
+    },
+    {
+      filename: 'test.vue',
+      code: `
+      <script setup lang="ts">
+      interface Props {
+        foo: number
+      }
+      defineProps<Props>()
+      </script>
+      `,
+      parser: require.resolve('vue-eslint-parser'),
+      parserOptions: {
+        ...parserOptions,
+        parser: require.resolve('@typescript-eslint/parser')
+      }
+    },
+    {
+      filename: 'test.vue',
+      code: `
+      <script setup lang="ts">
+      interface Props {
+        foo: number
+      }
+      withDefaults(defineProps<Props>(), {foo:42})
+      </script>
+      `,
+      parser: require.resolve('vue-eslint-parser'),
+      parserOptions: {
+        ...parserOptions,
+        parser: require.resolve('@typescript-eslint/parser')
+      }
+    },
+    {
+      filename: 'test.vue',
+      code: `
+      <script setup lang="ts">
+      interface Props {
+        foo: number
+      }
+      defineProps<Props>({
+        foo:{
+          default: 42
+        }
+      })
+      </script>
+      `,
+      parser: require.resolve('vue-eslint-parser'),
+      parserOptions: {
+        ...parserOptions,
+        parser: require.resolve('@typescript-eslint/parser')
+      }
     }
   ],
 
@@ -387,6 +473,53 @@ ruleTester.run('require-default-prop', rule, {
         "Prop 'baz' requires default value to be set.",
         "Prop 'bar1' requires default value to be set."
       ]
-    }
+    },
+    {
+      filename: 'test.vue',
+      code: `
+      <script setup>
+      defineProps({
+        foo: String
+      })
+      </script>
+      `,
+      parser: require.resolve('vue-eslint-parser'),
+      parserOptions,
+      errors: [
+        {
+          message: "Prop 'foo' requires default value to be set.",
+          line: 4
+        }
+      ]
+    },
+    ...(semver.lt(
+      require('@typescript-eslint/parser/package.json').version,
+      '4.0.0'
+    )
+      ? []
+      : [
+          {
+            filename: 'test.vue',
+            code: `
+            <script setup lang="ts">
+            interface Props {
+              foo: number
+            }
+            withDefaults(defineProps<Props>(), {bar:42})
+            </script>
+            `,
+            parser: require.resolve('vue-eslint-parser'),
+            parserOptions: {
+              ...parserOptions,
+              parser: require.resolve('@typescript-eslint/parser')
+            },
+            errors: [
+              {
+                message: "Prop 'foo' requires default value to be set.",
+                line: 4
+              }
+            ]
+          }
+        ])
   ]
 })