diff --git a/pkg/apis/workflow/v1alpha1/workflow_types.go b/pkg/apis/workflow/v1alpha1/workflow_types.go
index 96d62abf0094..7ef912919d00 100644
--- a/pkg/apis/workflow/v1alpha1/workflow_types.go
+++ b/pkg/apis/workflow/v1alpha1/workflow_types.go
@@ -3419,6 +3419,34 @@ func (wf *Workflow) SetStoredTemplate(scope ResourceScope, resourceName string,
 	return false, nil
 }
 
+// SetStoredInlineTemplate stores a inline template in stored templates of the workflow.
+func (wf *Workflow) SetStoredInlineTemplate(scope ResourceScope, resourceName string, tmpl *Template) error {
+	// Store inline templates in steps.
+	for _, steps := range tmpl.Steps {
+		for _, step := range steps.Steps {
+			if step.GetTemplate() != nil {
+				_, err := wf.SetStoredTemplate(scope, resourceName, &step, step.GetTemplate())
+				if err != nil {
+					return err
+				}
+			}
+		}
+	}
+	// Store inline templates in DAG tasks.
+	if tmpl.DAG != nil {
+		for _, task := range tmpl.DAG.Tasks {
+			if task.GetTemplate() != nil {
+				_, err := wf.SetStoredTemplate(scope, resourceName, &task, task.GetTemplate())
+				if err != nil {
+					return err
+				}
+			}
+		}
+	}
+
+	return nil
+}
+
 // resolveTemplateReference resolves the stored template name of a given template holder on the template scope and determines
 // if it should be stored
 func resolveTemplateReference(callerScope ResourceScope, resourceName string, caller TemplateReferenceHolder) (string, bool) {
diff --git a/workflow/controller/inline_test.go b/workflow/controller/inline_test.go
index 982bd5577181..7df05d334ca5 100644
--- a/workflow/controller/inline_test.go
+++ b/workflow/controller/inline_test.go
@@ -2,6 +2,7 @@ package controller
 
 import (
 	"context"
+	"strings"
 	"testing"
 
 	"github.com/stretchr/testify/assert"
@@ -74,3 +75,220 @@ spec:
 	assert.Equal(t, "message", node.Inputs.Parameters[0].Name)
 	assert.Equal(t, "foo", node.Inputs.Parameters[0].Value.String())
 }
+
+var workflowCallTemplateWithInline = `
+apiVersion: argoproj.io/v1alpha1
+kind: Workflow
+metadata:
+  name: test-call-inline-iterated
+  namespace: argo
+spec:
+  entrypoint: main
+  templates:
+    - name: main
+      dag:
+        tasks:
+          - name: process
+            templateRef:
+              name: test-inline-iterated
+              template: main`
+
+var workflowTemplateWithInlineSteps = `
+apiVersion: argoproj.io/v1alpha1
+kind: WorkflowTemplate
+metadata:
+  name: test-inline-iterated
+  namespace: argo
+spec:
+  entrypoint: main
+  templates:
+    - name: main
+      steps:
+        - - name: iterated
+            template: steps-inline
+            arguments:
+              parameters:
+                - name: arg
+                  value: "{{ item }}"
+            withItems:
+              - foo
+              - bar
+
+    - name: steps-inline
+      inputs:
+        parameters:
+          - name: arg
+      steps:
+        - - name: inline-a
+            arguments:
+              parameters:
+                - name: arg
+                  value: "{{ inputs.parameters.arg }}"
+            inline:
+              inputs:
+                parameters:
+                  - name: arg
+              container:
+                image: docker/whalesay
+                command: [echo]
+                args:
+                  - "{{ inputs.parameters.arg }} a"
+              outputs:
+                parameters:
+                  - name: arg-out
+                    value: "{{ inputs.parameters.arg }}"
+          - name: inline-b
+            arguments:
+              parameters:
+                - name: arg
+                  value: "{{ inputs.parameters.arg }}"
+            inline:
+              inputs:
+                parameters:
+                  - name: arg
+              container:
+                image: docker/whalesay
+                command: [echo]
+                args:
+                  - "{{ inputs.parameters.arg }} b"
+              outputs:
+                parameters:
+                  - name: arg-out
+                    value: "{{ inputs.parameters.arg }}"
+`
+
+func TestCallTemplateWithInlineSteps(t *testing.T) {
+	wftmpl := wfv1.MustUnmarshalWorkflowTemplate(workflowTemplateWithInlineSteps)
+	wf := wfv1.MustUnmarshalWorkflow(workflowCallTemplateWithInline)
+	cancel, controller := newController(wf, wftmpl)
+	defer cancel()
+
+	ctx := context.Background()
+	woc := newWorkflowOperationCtx(wf, controller)
+	woc.operate(ctx)
+	pods, err := listPods(woc)
+	assert.Nil(t, err)
+	assert.Equal(t, 4, len(pods.Items))
+	count := 0
+	for _, pod := range pods.Items {
+		nodeName := pod.Annotations["workflows.argoproj.io/node-name"]
+		if strings.Contains(nodeName, "foo") {
+			count++
+			assert.Contains(t, pod.Spec.Containers[1].Args[0], "foo")
+		}
+		if strings.Contains(nodeName, "bar") {
+			assert.Contains(t, pod.Spec.Containers[1].Args[0], "bar")
+		}
+	}
+	assert.Equal(t, 2, count)
+	for name, storedTemplate := range woc.wf.Status.StoredTemplates {
+		if strings.Contains(name, "inline-a") {
+			assert.Equal(t, storedTemplate.Container.Args[0], "{{ inputs.parameters.arg }} a")
+		}
+		if strings.Contains(name, "inline-b") {
+			assert.Equal(t, storedTemplate.Container.Args[0], "{{ inputs.parameters.arg }} b")
+		}
+	}
+}
+
+var workflowTemplateWithInlineDAG = `
+apiVersion: argoproj.io/v1alpha1
+kind: WorkflowTemplate
+metadata:
+  name: test-inline-iterated
+  namespace: argo
+spec:
+  entrypoint: main
+  templates:
+    - name: main
+      steps:
+        - - name: iterated
+            template: dag-inline
+            arguments:
+              parameters:
+                - name: arg
+                  value: "{{ item }}"
+            withItems:
+              - foo
+              - bar
+
+    - name: dag-inline
+      inputs:
+        parameters:
+          - name: arg
+      dag:
+        tasks:
+          - name: inline-a
+            arguments:
+              parameters:
+              - name: arg
+                value: '{{ inputs.parameters.arg }}'
+            inline:
+              container:
+                args:
+                - '{{ inputs.parameters.arg }} a'
+                command:
+                - echo
+                image: docker/whalesay
+              inputs:
+                parameters:
+                - name: arg
+              outputs:
+                parameters:
+                - name: arg-out
+                  value: '{{ inputs.parameters.arg }}'
+
+          - name: inline-b
+            arguments:
+              parameters:
+              - name: arg
+                value: '{{ inputs.parameters.arg }}'
+            inline:
+              container:
+                args:
+                - '{{ inputs.parameters.arg }} b'
+                command:
+                - echo
+                image: docker/whalesay
+              inputs:
+                parameters:
+                - name: arg
+              outputs:
+                parameters:
+                - name: arg-out
+                  value: '{{ inputs.parameters.arg }}'
+`
+
+func TestCallTemplateWithInlineDAG(t *testing.T) {
+	wftmpl := wfv1.MustUnmarshalWorkflowTemplate(workflowTemplateWithInlineDAG)
+	wf := wfv1.MustUnmarshalWorkflow(workflowCallTemplateWithInline)
+	cancel, controller := newController(wf, wftmpl)
+	defer cancel()
+
+	ctx := context.Background()
+	woc := newWorkflowOperationCtx(wf, controller)
+	woc.operate(ctx)
+	pods, err := listPods(woc)
+	assert.Nil(t, err)
+	assert.Equal(t, 4, len(pods.Items))
+	count := 0
+	for _, pod := range pods.Items {
+		nodeName := pod.Annotations["workflows.argoproj.io/node-name"]
+		if strings.Contains(nodeName, "foo") {
+			count++
+			assert.Contains(t, pod.Spec.Containers[1].Args[0], "foo")
+		}
+		if strings.Contains(nodeName, "bar") {
+			assert.Contains(t, pod.Spec.Containers[1].Args[0], "bar")
+		}
+	}
+	assert.Equal(t, 2, count)
+	for name, storedTemplate := range woc.wf.Status.StoredTemplates {
+		if strings.Contains(name, "inline-a") {
+			assert.Equal(t, storedTemplate.Container.Args[0], "{{ inputs.parameters.arg }} a")
+		}
+		if strings.Contains(name, "inline-b") {
+			assert.Equal(t, storedTemplate.Container.Args[0], "{{ inputs.parameters.arg }} b")
+		}
+	}
+}
diff --git a/workflow/templateresolution/context.go b/workflow/templateresolution/context.go
index c57987bd798a..131864685887 100644
--- a/workflow/templateresolution/context.go
+++ b/workflow/templateresolution/context.go
@@ -211,6 +211,10 @@ func (ctx *Context) resolveTemplateImpl(tmplHolder wfv1.TemplateReferenceHolder)
 				ctx.log.Debug("Stored the template")
 				templateStored = true
 			}
+			err = ctx.workflow.SetStoredInlineTemplate(scope, resourceName, newTmpl)
+			if err != nil {
+				ctx.log.Errorf("Failed to store the inline template: %v", err)
+			}
 		}
 		tmpl = newTmpl
 	}