diff --git a/wpimath/src/main/native/include/frc/fmt/Eigen.h b/wpimath/src/main/native/include/frc/fmt/Eigen.h
index f6cc7b6cc5..c6b2ee6afe 100644
--- a/wpimath/src/main/native/include/frc/fmt/Eigen.h
+++ b/wpimath/src/main/native/include/frc/fmt/Eigen.h
@@ -7,9 +7,10 @@
 #include <fmt/format.h>
 
 #include "Eigen/Core"
+#include "Eigen/SparseCore"
 
 /**
- * Formatter for Eigen::Matrix<>.
+ * Formatter for Eigen::Matrix<double, Rows, Cols>.
  *
  * @tparam Rows Number of rows.
  * @tparam Cols Number of columns.
@@ -51,12 +52,68 @@ struct fmt::formatter<Eigen::Matrix<double, Rows, Cols, Args...>> {
   auto format(const Eigen::Matrix<double, Rows, Cols, Args...>& mat,
               FormatContext& ctx) {
     auto out = ctx.out();
-    for (int i = 0; i < Rows; ++i) {
-      for (int j = 0; j < Cols; ++j) {
+    for (int i = 0; i < mat.rows(); ++i) {
+      for (int j = 0; j < mat.cols(); ++j) {
         out = fmt::format_to(out, "  {:f}", mat(i, j));
       }
 
-      if (i < Rows - 1) {
+      if (i < mat.rows() - 1) {
+        out = fmt::format_to(out, "\n");
+      }
+    }
+
+    return out;
+  }
+};
+
+/**
+ * Formatter for Eigen::SparseMatrix<double>.
+ *
+ * @tparam Options Union of bit flags controlling the storage scheme.
+ * @tparam StorageIndex The type of the indices.
+ */
+template <int Options, typename StorageIndex>
+struct fmt::formatter<Eigen::SparseMatrix<double, Options, StorageIndex>> {
+  /**
+   * Storage for format specifier.
+   */
+  char presentation = 'f';
+
+  /**
+   * Format string parser.
+   *
+   * @param ctx Format string context.
+   */
+  constexpr auto parse(fmt::format_parse_context& ctx) {
+    auto it = ctx.begin(), end = ctx.end();
+    if (it != end && (*it == 'f' || *it == 'e')) {
+      presentation = *it++;
+    }
+
+    if (it != end && *it != '}') {
+      throw fmt::format_error("invalid format");
+    }
+
+    return it;
+  }
+
+  /**
+   * Writes out a formatted matrix.
+   *
+   * @tparam FormatContext Format string context type.
+   * @param mat Matrix to format.
+   * @param ctx Format string context.
+   */
+  template <typename FormatContext>
+  auto format(const Eigen::SparseMatrix<double, Options, StorageIndex>& mat,
+              FormatContext& ctx) {
+    auto out = ctx.out();
+    for (int i = 0; i < mat.rows(); ++i) {
+      for (int j = 0; j < mat.cols(); ++j) {
+        out = fmt::format_to(out, "  {:f}", mat.coeff(i, j));
+      }
+
+      if (i < mat.rows() - 1) {
         out = fmt::format_to(out, "\n");
       }
     }
diff --git a/wpimath/src/test/native/cpp/FormatterTest.cpp b/wpimath/src/test/native/cpp/FormatterTest.cpp
index cd7ef5cbe4..0e2f77c25c 100644
--- a/wpimath/src/test/native/cpp/FormatterTest.cpp
+++ b/wpimath/src/test/native/cpp/FormatterTest.cpp
@@ -2,6 +2,8 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
+#include <vector>
+
 #include <fmt/format.h>
 
 #include "frc/fmt/Eigen.h"
@@ -10,12 +12,33 @@
 #include "units/velocity.h"
 
 TEST(FormatterTest, Eigen) {
-  Eigen::Matrix<double, 3, 2> A{{1.0, 2.0}, {3.0, 4.0}, {5.0, 6.0}};
+  Eigen::Matrix<double, 3, 2> A{{0.0, 1.0}, {2.0, 3.0}, {4.0, 5.0}};
   EXPECT_EQ(
-      "  1.000000  2.000000\n"
-      "  3.000000  4.000000\n"
-      "  5.000000  6.000000",
+      "  0.000000  1.000000\n"
+      "  2.000000  3.000000\n"
+      "  4.000000  5.000000",
       fmt::format("{}", A));
+
+  Eigen::MatrixXd B{{0.0, 1.0}, {2.0, 3.0}, {4.0, 5.0}};
+  EXPECT_EQ(
+      "  0.000000  1.000000\n"
+      "  2.000000  3.000000\n"
+      "  4.000000  5.000000",
+      fmt::format("{}", B));
+
+  Eigen::SparseMatrix<double> C{3, 2};
+  std::vector<Eigen::Triplet<double>> triplets;
+  triplets.emplace_back(0, 1, 1.0);
+  triplets.emplace_back(1, 0, 2.0);
+  triplets.emplace_back(1, 1, 3.0);
+  triplets.emplace_back(2, 0, 4.0);
+  triplets.emplace_back(2, 1, 5.0);
+  C.setFromTriplets(triplets.begin(), triplets.end());
+  EXPECT_EQ(
+      "  0.000000  1.000000\n"
+      "  2.000000  3.000000\n"
+      "  4.000000  5.000000",
+      fmt::format("{}", C));
 }
 
 TEST(FormatterTest, Units) {