diff --git a/CHANGELOG.md b/CHANGELOG.md
index 98f6dac5674..104c9bb142e 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -64,6 +64,7 @@ Ref: https://keepachangelog.com/en/1.0.0/
 
 ### Features
 
+* (modules/core/02-client) [\#1336](https://github.com/cosmos/ibc-go/pull/1336) Adding Query/ConsensusStateHeights gRPC for fetching the height of every consensus state associated with a client.
 * [\#276](https://github.com/cosmos/ibc-go/pull/276) Adding the Fee Middleware module v1
 * (apps/29-fee) [\#1229](https://github.com/cosmos/ibc-go/pull/1229) Adding CLI commands for getting all unrelayed incentivized packets and packet by packet-id. 
 * (apps/29-fee) [\#1224](https://github.com/cosmos/ibc-go/pull/1224) Adding Query/CounterpartyAddress and CLI to ICS29 fee middleware
diff --git a/docs/client/swagger-ui/swagger.yaml b/docs/client/swagger-ui/swagger.yaml
index 3ca3e772583..084cc498a5d 100644
--- a/docs/client/swagger-ui/swagger.yaml
+++ b/docs/client/swagger-ui/swagger.yaml
@@ -4285,6 +4285,331 @@ paths:
           type: string
       tags:
         - Query
+  '/ibc/core/client/v1/consensus_states/heights/{client_id}':
+    get:
+      summary: >-
+        ConsensusStateHeights queries the height of every consensus states
+        associated with a given client.
+      operationId: ConsensusStateHeights
+      responses:
+        '200':
+          description: A successful response.
+          schema:
+            type: object
+            properties:
+              consensus_state_heights:
+                type: array
+                items:
+                  type: object
+                  properties:
+                    revision_number:
+                      type: string
+                      format: uint64
+                      title: the revision that the client is currently on
+                    revision_height:
+                      type: string
+                      format: uint64
+                      title: the height within the given revision
+                  description: >-
+                    Normally the RevisionHeight is incremented at each height
+                    while keeping
+
+                    RevisionNumber the same. However some consensus algorithms
+                    may choose to
+
+                    reset the height in certain conditions e.g. hard forks,
+                    state-machine
+
+                    breaking changes In these cases, the RevisionNumber is
+                    incremented so that
+
+                    height continues to be monitonically increasing even as the
+                    RevisionHeight
+
+                    gets reset
+                  title: >-
+                    Height is a monotonically increasing data type
+
+                    that can be compared against another Height for the purposes
+                    of updating and
+
+                    freezing clients
+                title: consensus state heights
+              pagination:
+                title: pagination response
+                type: object
+                properties:
+                  next_key:
+                    type: string
+                    format: byte
+                    title: |-
+                      next_key is the key to be passed to PageRequest.key to
+                      query the next page most efficiently
+                  total:
+                    type: string
+                    format: uint64
+                    title: >-
+                      total is total number of results available if
+                      PageRequest.count_total
+
+                      was set, its value is undefined otherwise
+                description: >-
+                  PageResponse is to be embedded in gRPC response messages where
+                  the
+
+                  corresponding request message has used PageRequest.
+
+                   message SomeResponse {
+                           repeated Bar results = 1;
+                           PageResponse page = 2;
+                   }
+            title: |-
+              QueryConsensusStateHeightsResponse is the response type for the
+              Query/ConsensusStateHeights RPC method
+        default:
+          description: An unexpected error response
+          schema:
+            type: object
+            properties:
+              error:
+                type: string
+              code:
+                type: integer
+                format: int32
+              message:
+                type: string
+              details:
+                type: array
+                items:
+                  type: object
+                  properties:
+                    type_url:
+                      type: string
+                      description: >-
+                        A URL/resource name that uniquely identifies the type of
+                        the serialized
+
+                        protocol buffer message. This string must contain at
+                        least
+
+                        one "/" character. The last segment of the URL's path
+                        must represent
+
+                        the fully qualified name of the type (as in
+
+                        `path/google.protobuf.Duration`). The name should be in
+                        a canonical form
+
+                        (e.g., leading "." is not accepted).
+
+
+                        In practice, teams usually precompile into the binary
+                        all types that they
+
+                        expect it to use in the context of Any. However, for
+                        URLs which use the
+
+                        scheme `http`, `https`, or no scheme, one can optionally
+                        set up a type
+
+                        server that maps type URLs to message definitions as
+                        follows:
+
+
+                        * If no scheme is provided, `https` is assumed.
+
+                        * An HTTP GET on the URL must yield a
+                        [google.protobuf.Type][]
+                          value in binary format, or produce an error.
+                        * Applications are allowed to cache lookup results based
+                        on the
+                          URL, or have them precompiled into a binary to avoid any
+                          lookup. Therefore, binary compatibility needs to be preserved
+                          on changes to types. (Use versioned type names to manage
+                          breaking changes.)
+
+                        Note: this functionality is not currently available in
+                        the official
+
+                        protobuf release, and it is not used for type URLs
+                        beginning with
+
+                        type.googleapis.com.
+
+
+                        Schemes other than `http`, `https` (or the empty scheme)
+                        might be
+
+                        used with implementation specific semantics.
+                    value:
+                      type: string
+                      format: byte
+                      description: >-
+                        Must be a valid serialized protocol buffer of the above
+                        specified type.
+                  description: >-
+                    `Any` contains an arbitrary serialized protocol buffer
+                    message along with a
+
+                    URL that describes the type of the serialized message.
+
+
+                    Protobuf library provides support to pack/unpack Any values
+                    in the form
+
+                    of utility functions or additional generated methods of the
+                    Any type.
+
+
+                    Example 1: Pack and unpack a message in C++.
+
+                        Foo foo = ...;
+                        Any any;
+                        any.PackFrom(foo);
+                        ...
+                        if (any.UnpackTo(&foo)) {
+                          ...
+                        }
+
+                    Example 2: Pack and unpack a message in Java.
+
+                        Foo foo = ...;
+                        Any any = Any.pack(foo);
+                        ...
+                        if (any.is(Foo.class)) {
+                          foo = any.unpack(Foo.class);
+                        }
+
+                     Example 3: Pack and unpack a message in Python.
+
+                        foo = Foo(...)
+                        any = Any()
+                        any.Pack(foo)
+                        ...
+                        if any.Is(Foo.DESCRIPTOR):
+                          any.Unpack(foo)
+                          ...
+
+                     Example 4: Pack and unpack a message in Go
+
+                         foo := &pb.Foo{...}
+                         any, err := ptypes.MarshalAny(foo)
+                         ...
+                         foo := &pb.Foo{}
+                         if err := ptypes.UnmarshalAny(any, foo); err != nil {
+                           ...
+                         }
+
+                    The pack methods provided by protobuf library will by
+                    default use
+
+                    'type.googleapis.com/full.type.name' as the type URL and the
+                    unpack
+
+                    methods only use the fully qualified type name after the
+                    last '/'
+
+                    in the type URL, for example "foo.bar.com/x/y.z" will yield
+                    type
+
+                    name "y.z".
+
+
+
+                    JSON
+
+                    ====
+
+                    The JSON representation of an `Any` value uses the regular
+
+                    representation of the deserialized, embedded message, with
+                    an
+
+                    additional field `@type` which contains the type URL.
+                    Example:
+
+                        package google.profile;
+                        message Person {
+                          string first_name = 1;
+                          string last_name = 2;
+                        }
+
+                        {
+                          "@type": "type.googleapis.com/google.profile.Person",
+                          "firstName": <string>,
+                          "lastName": <string>
+                        }
+
+                    If the embedded message type is well-known and has a custom
+                    JSON
+
+                    representation, that representation will be embedded adding
+                    a field
+
+                    `value` which holds the custom JSON in addition to the
+                    `@type`
+
+                    field. Example (for message [google.protobuf.Duration][]):
+
+                        {
+                          "@type": "type.googleapis.com/google.protobuf.Duration",
+                          "value": "1.212s"
+                        }
+      parameters:
+        - name: client_id
+          description: client identifier
+          in: path
+          required: true
+          type: string
+        - name: pagination.key
+          description: |-
+            key is a value returned in PageResponse.next_key to begin
+            querying the next page most efficiently. Only one of offset or key
+            should be set.
+          in: query
+          required: false
+          type: string
+          format: byte
+        - name: pagination.offset
+          description: >-
+            offset is a numeric offset that can be used when key is unavailable.
+
+            It is less efficient than using key. Only one of offset or key
+            should
+
+            be set.
+          in: query
+          required: false
+          type: string
+          format: uint64
+        - name: pagination.limit
+          description: >-
+            limit is the total number of results to be returned in the result
+            page.
+
+            If left empty it will default to a value to be set by each app.
+          in: query
+          required: false
+          type: string
+          format: uint64
+        - name: pagination.count_total
+          description: >-
+            count_total is set to true  to indicate that the result set should
+            include
+
+            a count of the total number of items available for pagination in
+            UIs.
+
+            count_total is only respected when offset is used. It is ignored
+            when key
+
+            is set.
+          in: query
+          required: false
+          type: boolean
+          format: boolean
+      tags:
+        - Query
   '/ibc/core/client/v1/consensus_states/{client_id}':
     get:
       summary: |-
@@ -4303,7 +4628,6 @@ paths:
                   type: object
                   properties:
                     height:
-                      title: consensus state height
                       type: object
                       properties:
                         revision_number:
@@ -4331,6 +4655,13 @@ paths:
                         the RevisionHeight
 
                         gets reset
+                      title: >-
+                        Height is a monotonically increasing data type
+
+                        that can be compared against another Height for the
+                        purposes of updating and
+
+                        freezing clients
                     consensus_state:
                       type: object
                       properties:
@@ -4983,7 +5314,6 @@ paths:
                 format: byte
                 title: merkle proof of existence
               proof_height:
-                title: height at which the proof was retrieved
                 type: object
                 properties:
                   revision_number:
@@ -5011,6 +5341,13 @@ paths:
                   RevisionHeight
 
                   gets reset
+                title: >-
+                  Height is a monotonically increasing data type
+
+                  that can be compared against another Height for the purposes
+                  of updating and
+
+                  freezing clients
             title: >-
               QueryConsensusStateResponse is the response type for the
               Query/ConsensusState
@@ -13429,7 +13766,6 @@ definitions:
     type: object
     properties:
       height:
-        title: consensus state height
         type: object
         properties:
           revision_number:
@@ -13456,6 +13792,13 @@ definitions:
           RevisionHeight
 
           gets reset
+        title: >-
+          Height is a monotonically increasing data type
+
+          that can be compared against another Height for the purposes of
+          updating and
+
+          freezing clients
       consensus_state:
         type: object
         properties:
@@ -14271,6 +14614,76 @@ definitions:
       RPC
 
       method. It returns the current status of the IBC client.
+  ibc.core.client.v1.QueryConsensusStateHeightsResponse:
+    type: object
+    properties:
+      consensus_state_heights:
+        type: array
+        items:
+          type: object
+          properties:
+            revision_number:
+              type: string
+              format: uint64
+              title: the revision that the client is currently on
+            revision_height:
+              type: string
+              format: uint64
+              title: the height within the given revision
+          description: >-
+            Normally the RevisionHeight is incremented at each height while
+            keeping
+
+            RevisionNumber the same. However some consensus algorithms may
+            choose to
+
+            reset the height in certain conditions e.g. hard forks,
+            state-machine
+
+            breaking changes In these cases, the RevisionNumber is incremented
+            so that
+
+            height continues to be monitonically increasing even as the
+            RevisionHeight
+
+            gets reset
+          title: >-
+            Height is a monotonically increasing data type
+
+            that can be compared against another Height for the purposes of
+            updating and
+
+            freezing clients
+        title: consensus state heights
+      pagination:
+        title: pagination response
+        type: object
+        properties:
+          next_key:
+            type: string
+            format: byte
+            title: |-
+              next_key is the key to be passed to PageRequest.key to
+              query the next page most efficiently
+          total:
+            type: string
+            format: uint64
+            title: >-
+              total is total number of results available if
+              PageRequest.count_total
+
+              was set, its value is undefined otherwise
+        description: |-
+          PageResponse is to be embedded in gRPC response messages where the
+          corresponding request message has used PageRequest.
+
+           message SomeResponse {
+                   repeated Bar results = 1;
+                   PageResponse page = 2;
+           }
+    title: |-
+      QueryConsensusStateHeightsResponse is the response type for the
+      Query/ConsensusStateHeights RPC method
   ibc.core.client.v1.QueryConsensusStateResponse:
     type: object
     properties:
@@ -14441,7 +14854,6 @@ definitions:
         format: byte
         title: merkle proof of existence
       proof_height:
-        title: height at which the proof was retrieved
         type: object
         properties:
           revision_number:
@@ -14468,6 +14880,13 @@ definitions:
           RevisionHeight
 
           gets reset
+        title: >-
+          Height is a monotonically increasing data type
+
+          that can be compared against another Height for the purposes of
+          updating and
+
+          freezing clients
     title: >-
       QueryConsensusStateResponse is the response type for the
       Query/ConsensusState
@@ -14482,7 +14901,6 @@ definitions:
           type: object
           properties:
             height:
-              title: consensus state height
               type: object
               properties:
                 revision_number:
@@ -14510,6 +14928,13 @@ definitions:
                 RevisionHeight
 
                 gets reset
+              title: >-
+                Height is a monotonically increasing data type
+
+                that can be compared against another Height for the purposes of
+                updating and
+
+                freezing clients
             consensus_state:
               type: object
               properties:
diff --git a/docs/ibc/proto-docs.md b/docs/ibc/proto-docs.md
index ecf3ca2aa87..9bbf462a18f 100644
--- a/docs/ibc/proto-docs.md
+++ b/docs/ibc/proto-docs.md
@@ -216,6 +216,8 @@
     - [QueryClientStatesResponse](#ibc.core.client.v1.QueryClientStatesResponse)
     - [QueryClientStatusRequest](#ibc.core.client.v1.QueryClientStatusRequest)
     - [QueryClientStatusResponse](#ibc.core.client.v1.QueryClientStatusResponse)
+    - [QueryConsensusStateHeightsRequest](#ibc.core.client.v1.QueryConsensusStateHeightsRequest)
+    - [QueryConsensusStateHeightsResponse](#ibc.core.client.v1.QueryConsensusStateHeightsResponse)
     - [QueryConsensusStateRequest](#ibc.core.client.v1.QueryConsensusStateRequest)
     - [QueryConsensusStateResponse](#ibc.core.client.v1.QueryConsensusStateResponse)
     - [QueryConsensusStatesRequest](#ibc.core.client.v1.QueryConsensusStatesRequest)
@@ -3236,6 +3238,40 @@ method. It returns the current status of the IBC client.
 
 
 
+<a name="ibc.core.client.v1.QueryConsensusStateHeightsRequest"></a>
+
+### QueryConsensusStateHeightsRequest
+QueryConsensusStateHeightsRequest is the request type for Query/ConsensusStateHeights
+RPC method.
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| `client_id` | [string](#string) |  | client identifier |
+| `pagination` | [cosmos.base.query.v1beta1.PageRequest](#cosmos.base.query.v1beta1.PageRequest) |  | pagination request |
+
+
+
+
+
+
+<a name="ibc.core.client.v1.QueryConsensusStateHeightsResponse"></a>
+
+### QueryConsensusStateHeightsResponse
+QueryConsensusStateHeightsResponse is the response type for the
+Query/ConsensusStateHeights RPC method
+
+
+| Field | Type | Label | Description |
+| ----- | ---- | ----- | ----------- |
+| `consensus_state_heights` | [Height](#ibc.core.client.v1.Height) | repeated | consensus state heights |
+| `pagination` | [cosmos.base.query.v1beta1.PageResponse](#cosmos.base.query.v1beta1.PageResponse) |  | pagination response |
+
+
+
+
+
+
 <a name="ibc.core.client.v1.QueryConsensusStateRequest"></a>
 
 ### QueryConsensusStateRequest
@@ -3379,6 +3415,7 @@ Query provides defines the gRPC querier service
 | `ClientStates` | [QueryClientStatesRequest](#ibc.core.client.v1.QueryClientStatesRequest) | [QueryClientStatesResponse](#ibc.core.client.v1.QueryClientStatesResponse) | ClientStates queries all the IBC light clients of a chain. | GET|/ibc/core/client/v1/client_states|
 | `ConsensusState` | [QueryConsensusStateRequest](#ibc.core.client.v1.QueryConsensusStateRequest) | [QueryConsensusStateResponse](#ibc.core.client.v1.QueryConsensusStateResponse) | ConsensusState queries a consensus state associated with a client state at a given height. | GET|/ibc/core/client/v1/consensus_states/{client_id}/revision/{revision_number}/height/{revision_height}|
 | `ConsensusStates` | [QueryConsensusStatesRequest](#ibc.core.client.v1.QueryConsensusStatesRequest) | [QueryConsensusStatesResponse](#ibc.core.client.v1.QueryConsensusStatesResponse) | ConsensusStates queries all the consensus state associated with a given client. | GET|/ibc/core/client/v1/consensus_states/{client_id}|
+| `ConsensusStateHeights` | [QueryConsensusStateHeightsRequest](#ibc.core.client.v1.QueryConsensusStateHeightsRequest) | [QueryConsensusStateHeightsResponse](#ibc.core.client.v1.QueryConsensusStateHeightsResponse) | ConsensusStateHeights queries the height of every consensus states associated with a given client. | GET|/ibc/core/client/v1/consensus_states/heights/{client_id}|
 | `ClientStatus` | [QueryClientStatusRequest](#ibc.core.client.v1.QueryClientStatusRequest) | [QueryClientStatusResponse](#ibc.core.client.v1.QueryClientStatusResponse) | Status queries the status of an IBC client. | GET|/ibc/core/client/v1/client_status/{client_id}|
 | `ClientParams` | [QueryClientParamsRequest](#ibc.core.client.v1.QueryClientParamsRequest) | [QueryClientParamsResponse](#ibc.core.client.v1.QueryClientParamsResponse) | ClientParams queries all parameters of the ibc client. | GET|/ibc/client/v1/params|
 | `UpgradedClientState` | [QueryUpgradedClientStateRequest](#ibc.core.client.v1.QueryUpgradedClientStateRequest) | [QueryUpgradedClientStateResponse](#ibc.core.client.v1.QueryUpgradedClientStateResponse) | UpgradedClientState queries an Upgraded IBC light client. | GET|/ibc/core/client/v1/upgraded_client_states|
diff --git a/modules/core/02-client/client/cli/cli.go b/modules/core/02-client/client/cli/cli.go
index be33557d7ed..d06977016bd 100644
--- a/modules/core/02-client/client/cli/cli.go
+++ b/modules/core/02-client/client/cli/cli.go
@@ -22,6 +22,7 @@ func GetQueryCmd() *cobra.Command {
 		GetCmdQueryClientState(),
 		GetCmdQueryClientStatus(),
 		GetCmdQueryConsensusStates(),
+		GetCmdQueryConsensusStateHeights(),
 		GetCmdQueryConsensusState(),
 		GetCmdQueryHeader(),
 		GetCmdSelfConsensusState(),
diff --git a/modules/core/02-client/client/cli/query.go b/modules/core/02-client/client/cli/query.go
index d5e18679a28..56093a8368f 100644
--- a/modules/core/02-client/client/cli/query.go
+++ b/modules/core/02-client/client/cli/query.go
@@ -164,6 +164,49 @@ func GetCmdQueryConsensusStates() *cobra.Command {
 	return cmd
 }
 
+// GetCmdQueryConsensusStateHeights defines the command to query the heights of all client consensus states associated with the
+// provided client ID.
+func GetCmdQueryConsensusStateHeights() *cobra.Command {
+	cmd := &cobra.Command{
+		Use:     "consensus-state-heights [client-id]",
+		Short:   "Query the heights of all consensus states of a client.",
+		Long:    "Query the heights of all consensus states associated with the provided client ID.",
+		Example: fmt.Sprintf("%s query %s %s consensus-state-heights [client-id]", version.AppName, host.ModuleName, types.SubModuleName),
+		Args:    cobra.ExactArgs(1),
+		RunE: func(cmd *cobra.Command, args []string) error {
+			clientCtx, err := client.GetClientQueryContext(cmd)
+			if err != nil {
+				return err
+			}
+
+			clientID := args[0]
+
+			queryClient := types.NewQueryClient(clientCtx)
+
+			pageReq, err := client.ReadPageRequest(cmd.Flags())
+			if err != nil {
+				return err
+			}
+
+			req := &types.QueryConsensusStateHeightsRequest{
+				ClientId:   clientID,
+				Pagination: pageReq,
+			}
+
+			res, err := queryClient.ConsensusStateHeights(cmd.Context(), req)
+			if err != nil {
+				return err
+			}
+
+			return clientCtx.PrintProto(res)
+		},
+	}
+	flags.AddQueryFlagsToCmd(cmd)
+	flags.AddPaginationFlagsToCmd(cmd, "consensus state heights")
+
+	return cmd
+}
+
 // GetCmdQueryConsensusState defines the command to query the consensus state of
 // the chain as defined in https://github.com/cosmos/ibc/tree/master/spec/core/ics-002-client-semantics#query
 func GetCmdQueryConsensusState() *cobra.Command {
diff --git a/modules/core/02-client/keeper/grpc_query.go b/modules/core/02-client/keeper/grpc_query.go
index 555994e0a88..bc7ce9f8241 100644
--- a/modules/core/02-client/keeper/grpc_query.go
+++ b/modules/core/02-client/keeper/grpc_query.go
@@ -186,6 +186,46 @@ func (q Keeper) ConsensusStates(c context.Context, req *types.QueryConsensusStat
 	}, nil
 }
 
+// ConsensusStateHeights implements the Query/ConsensusStateHeights gRPC method
+func (q Keeper) ConsensusStateHeights(c context.Context, req *types.QueryConsensusStateHeightsRequest) (*types.QueryConsensusStateHeightsResponse, error) {
+	if req == nil {
+		return nil, status.Error(codes.InvalidArgument, "empty request")
+	}
+
+	if err := host.ClientIdentifierValidator(req.ClientId); err != nil {
+		return nil, status.Error(codes.InvalidArgument, err.Error())
+	}
+
+	ctx := sdk.UnwrapSDKContext(c)
+
+	var consensusStateHeights []types.Height
+	store := prefix.NewStore(ctx.KVStore(q.storeKey), host.FullClientKey(req.ClientId, []byte(fmt.Sprintf("%s/", host.KeyConsensusStatePrefix))))
+
+	pageRes, err := query.FilteredPaginate(store, req.Pagination, func(key, _ []byte, accumulate bool) (bool, error) {
+		// filter any metadata stored under consensus state key
+		if bytes.Contains(key, []byte("/")) {
+			return false, nil
+		}
+
+		height, err := types.ParseHeight(string(key))
+		if err != nil {
+			return false, err
+		}
+
+		consensusStateHeights = append(consensusStateHeights, height)
+		return true, nil
+	})
+
+	if err != nil {
+		return nil, err
+	}
+
+	return &types.QueryConsensusStateHeightsResponse{
+		ConsensusStateHeights: consensusStateHeights,
+		Pagination:            pageRes,
+	}, nil
+}
+
 // ClientStatus implements the Query/ClientStatus gRPC method
 func (q Keeper) ClientStatus(c context.Context, req *types.QueryClientStatusRequest) (*types.QueryClientStatusResponse, error) {
 	if req == nil {
diff --git a/modules/core/02-client/keeper/grpc_query_test.go b/modules/core/02-client/keeper/grpc_query_test.go
index 7506291f4ae..e6d3a1ae1ba 100644
--- a/modules/core/02-client/keeper/grpc_query_test.go
+++ b/modules/core/02-client/keeper/grpc_query_test.go
@@ -2,7 +2,6 @@ package keeper_test
 
 import (
 	"fmt"
-	"time"
 
 	codectypes "github.com/cosmos/cosmos-sdk/codec/types"
 	sdk "github.com/cosmos/cosmos-sdk/types"
@@ -11,7 +10,6 @@ import (
 	"google.golang.org/grpc/metadata"
 
 	"github.com/cosmos/ibc-go/v3/modules/core/02-client/types"
-	commitmenttypes "github.com/cosmos/ibc-go/v3/modules/core/23-commitment/types"
 	"github.com/cosmos/ibc-go/v3/modules/core/exported"
 	ibctmtypes "github.com/cosmos/ibc-go/v3/modules/light-clients/07-tendermint/types"
 	ibctesting "github.com/cosmos/ibc-go/v3/testing"
@@ -299,7 +297,7 @@ func (suite *KeeperTestSuite) TestQueryConsensusState() {
 func (suite *KeeperTestSuite) TestQueryConsensusStates() {
 	var (
 		req                *types.QueryConsensusStatesRequest
-		expConsensusStates = []types.ConsensusStateWithHeight{}
+		expConsensusStates []types.ConsensusStateWithHeight
 	)
 
 	testCases := []struct {
@@ -308,14 +306,7 @@ func (suite *KeeperTestSuite) TestQueryConsensusStates() {
 		expPass  bool
 	}{
 		{
-			"invalid client identifier",
-			func() {
-				req = &types.QueryConsensusStatesRequest{}
-			},
-			false,
-		},
-		{
-			"empty pagination",
+			"success: without pagination",
 			func() {
 				req = &types.QueryConsensusStatesRequest{
 					ClientId: testClientID,
@@ -339,29 +330,30 @@ func (suite *KeeperTestSuite) TestQueryConsensusStates() {
 		{
 			"success",
 			func() {
-				cs := ibctmtypes.NewConsensusState(
-					suite.consensusState.Timestamp, commitmenttypes.NewMerkleRoot([]byte("hash1")), nil,
-				)
-				cs2 := ibctmtypes.NewConsensusState(
-					suite.consensusState.Timestamp.Add(time.Second), commitmenttypes.NewMerkleRoot([]byte("hash2")), nil,
-				)
-
-				clientState := ibctmtypes.NewClientState(
-					testChainID, ibctmtypes.DefaultTrustLevel, trustingPeriod, ubdPeriod, maxClockDrift, testClientHeight, commitmenttypes.GetSDKSpecs(), ibctesting.UpgradePath, false, false,
-				)
-
-				// Use CreateClient to ensure that processedTime metadata gets stored.
-				clientId, err := suite.keeper.CreateClient(suite.ctx, clientState, cs)
+				path := ibctesting.NewPath(suite.chainA, suite.chainB)
+				suite.coordinator.SetupClients(path)
+
+				height1 := path.EndpointA.GetClientState().GetLatestHeight().(types.Height)
+				expConsensusStates = append(
+					expConsensusStates,
+					types.NewConsensusStateWithHeight(
+						height1,
+						path.EndpointA.GetConsensusState(height1),
+					))
+
+				err := path.EndpointA.UpdateClient()
 				suite.Require().NoError(err)
-				suite.keeper.SetClientConsensusState(suite.ctx, clientId, testClientHeight.Increment(), cs2)
 
-				// order is swapped because the res is sorted by client id
-				expConsensusStates = []types.ConsensusStateWithHeight{
-					types.NewConsensusStateWithHeight(testClientHeight, cs),
-					types.NewConsensusStateWithHeight(testClientHeight.Increment().(types.Height), cs2),
-				}
+				height2 := path.EndpointA.GetClientState().GetLatestHeight().(types.Height)
+				expConsensusStates = append(
+					expConsensusStates,
+					types.NewConsensusStateWithHeight(
+						height2,
+						path.EndpointA.GetConsensusState(height2),
+					))
+
 				req = &types.QueryConsensusStatesRequest{
-					ClientId: clientId,
+					ClientId: path.EndpointA.ClientID,
 					Pagination: &query.PageRequest{
 						Limit:      3,
 						CountTotal: true,
@@ -370,6 +362,13 @@ func (suite *KeeperTestSuite) TestQueryConsensusStates() {
 			},
 			true,
 		},
+		{
+			"invalid client identifier",
+			func() {
+				req = &types.QueryConsensusStatesRequest{}
+			},
+			false,
+		},
 	}
 
 	for _, tc := range testCases {
@@ -377,9 +376,8 @@ func (suite *KeeperTestSuite) TestQueryConsensusStates() {
 			suite.SetupTest() // reset
 
 			tc.malleate()
-			ctx := sdk.WrapSDKContext(suite.ctx)
-
-			res, err := suite.queryClient.ConsensusStates(ctx, req)
+			ctx := sdk.WrapSDKContext(suite.chainA.GetContext())
+			res, err := suite.chainA.QueryServer.ConsensusStates(ctx, req)
 
 			if tc.expPass {
 				suite.Require().NoError(err)
@@ -400,6 +398,94 @@ func (suite *KeeperTestSuite) TestQueryConsensusStates() {
 	}
 }
 
+func (suite *KeeperTestSuite) TestQueryConsensusStateHeights() {
+	var (
+		req                      *types.QueryConsensusStateHeightsRequest
+		expConsensusStateHeights []types.Height
+	)
+
+	testCases := []struct {
+		msg      string
+		malleate func()
+		expPass  bool
+	}{
+		{
+			"success: without pagination",
+			func() {
+				req = &types.QueryConsensusStateHeightsRequest{
+					ClientId: testClientID,
+				}
+			},
+			true,
+		},
+		{
+			"success: response contains no results",
+			func() {
+				req = &types.QueryConsensusStateHeightsRequest{
+					ClientId: testClientID,
+					Pagination: &query.PageRequest{
+						Limit:      3,
+						CountTotal: true,
+					},
+				}
+			},
+			true,
+		},
+		{
+			"success: returns consensus heights",
+			func() {
+				path := ibctesting.NewPath(suite.chainA, suite.chainB)
+				suite.coordinator.SetupClients(path)
+
+				expConsensusStateHeights = append(expConsensusStateHeights, path.EndpointA.GetClientState().GetLatestHeight().(types.Height))
+
+				err := path.EndpointA.UpdateClient()
+				suite.Require().NoError(err)
+
+				expConsensusStateHeights = append(expConsensusStateHeights, path.EndpointA.GetClientState().GetLatestHeight().(types.Height))
+
+				req = &types.QueryConsensusStateHeightsRequest{
+					ClientId: path.EndpointA.ClientID,
+					Pagination: &query.PageRequest{
+						Limit:      3,
+						CountTotal: true,
+					},
+				}
+			},
+			true,
+		},
+		{
+			"invalid client identifier",
+			func() {
+				req = &types.QueryConsensusStateHeightsRequest{}
+			},
+			false,
+		},
+	}
+
+	for _, tc := range testCases {
+		suite.Run(fmt.Sprintf("Case %s", tc.msg), func() {
+			suite.SetupTest() // reset
+
+			tc.malleate()
+			ctx := sdk.WrapSDKContext(suite.chainA.GetContext())
+			res, err := suite.chainA.QueryServer.ConsensusStateHeights(ctx, req)
+
+			if tc.expPass {
+				suite.Require().NoError(err)
+				suite.Require().NotNil(res)
+				suite.Require().Equal(len(expConsensusStateHeights), len(res.ConsensusStateHeights))
+				for i := range expConsensusStateHeights {
+					suite.Require().NotNil(res.ConsensusStateHeights[i])
+					suite.Require().Equal(expConsensusStateHeights[i], res.ConsensusStateHeights[i])
+				}
+			} else {
+				suite.Require().Error(err)
+			}
+		})
+	}
+}
+
 func (suite *KeeperTestSuite) TestQueryClientStatus() {
 	var req *types.QueryClientStatusRequest
 
diff --git a/modules/core/02-client/types/query.pb.go b/modules/core/02-client/types/query.pb.go
index 7ea1d377be6..f4c033bfea3 100644
--- a/modules/core/02-client/types/query.pb.go
+++ b/modules/core/02-client/types/query.pb.go
@@ -500,6 +500,118 @@ func (m *QueryConsensusStatesResponse) GetPagination() *query.PageResponse {
 	return nil
 }
 
+// QueryConsensusStateHeightsRequest is the request type for Query/ConsensusStateHeights
+// RPC method.
+type QueryConsensusStateHeightsRequest struct {
+	// client identifier
+	ClientId string `protobuf:"bytes,1,opt,name=client_id,json=clientId,proto3" json:"client_id,omitempty"`
+	// pagination request
+	Pagination *query.PageRequest `protobuf:"bytes,2,opt,name=pagination,proto3" json:"pagination,omitempty"`
+}
+
+func (m *QueryConsensusStateHeightsRequest) Reset()         { *m = QueryConsensusStateHeightsRequest{} }
+func (m *QueryConsensusStateHeightsRequest) String() string { return proto.CompactTextString(m) }
+func (*QueryConsensusStateHeightsRequest) ProtoMessage()    {}
+func (*QueryConsensusStateHeightsRequest) Descriptor() ([]byte, []int) {
+	return fileDescriptor_dc42cdfd1d52d76e, []int{8}
+}
+func (m *QueryConsensusStateHeightsRequest) XXX_Unmarshal(b []byte) error {
+	return m.Unmarshal(b)
+}
+func (m *QueryConsensusStateHeightsRequest) XXX_Marshal(b []byte, deterministic bool) ([]byte, error) {
+	if deterministic {
+		return xxx_messageInfo_QueryConsensusStateHeightsRequest.Marshal(b, m, deterministic)
+	} else {
+		b = b[:cap(b)]
+		n, err := m.MarshalToSizedBuffer(b)
+		if err != nil {
+			return nil, err
+		}
+		return b[:n], nil
+	}
+}
+func (m *QueryConsensusStateHeightsRequest) XXX_Merge(src proto.Message) {
+	xxx_messageInfo_QueryConsensusStateHeightsRequest.Merge(m, src)
+}
+func (m *QueryConsensusStateHeightsRequest) XXX_Size() int {
+	return m.Size()
+}
+func (m *QueryConsensusStateHeightsRequest) XXX_DiscardUnknown() {
+	xxx_messageInfo_QueryConsensusStateHeightsRequest.DiscardUnknown(m)
+}
+
+var xxx_messageInfo_QueryConsensusStateHeightsRequest proto.InternalMessageInfo
+
+func (m *QueryConsensusStateHeightsRequest) GetClientId() string {
+	if m != nil {
+		return m.ClientId
+	}
+	return ""
+}
+
+func (m *QueryConsensusStateHeightsRequest) GetPagination() *query.PageRequest {
+	if m != nil {
+		return m.Pagination
+	}
+	return nil
+}
+
+// QueryConsensusStateHeightsResponse is the response type for the
+// Query/ConsensusStateHeights RPC method
+type QueryConsensusStateHeightsResponse struct {
+	// consensus state heights
+	ConsensusStateHeights []Height `protobuf:"bytes,1,rep,name=consensus_state_heights,json=consensusStateHeights,proto3" json:"consensus_state_heights"`
+	// pagination response
+	Pagination *query.PageResponse `protobuf:"bytes,2,opt,name=pagination,proto3" json:"pagination,omitempty"`
+}
+
+func (m *QueryConsensusStateHeightsResponse) Reset()         { *m = QueryConsensusStateHeightsResponse{} }
+func (m *QueryConsensusStateHeightsResponse) String() string { return proto.CompactTextString(m) }
+func (*QueryConsensusStateHeightsResponse) ProtoMessage()    {}
+func (*QueryConsensusStateHeightsResponse) Descriptor() ([]byte, []int) {
+	return fileDescriptor_dc42cdfd1d52d76e, []int{9}
+}
+func (m *QueryConsensusStateHeightsResponse) XXX_Unmarshal(b []byte) error {
+	return m.Unmarshal(b)
+}
+func (m *QueryConsensusStateHeightsResponse) XXX_Marshal(b []byte, deterministic bool) ([]byte, error) {
+	if deterministic {
+		return xxx_messageInfo_QueryConsensusStateHeightsResponse.Marshal(b, m, deterministic)
+	} else {
+		b = b[:cap(b)]
+		n, err := m.MarshalToSizedBuffer(b)
+		if err != nil {
+			return nil, err
+		}
+		return b[:n], nil
+	}
+}
+func (m *QueryConsensusStateHeightsResponse) XXX_Merge(src proto.Message) {
+	xxx_messageInfo_QueryConsensusStateHeightsResponse.Merge(m, src)
+}
+func (m *QueryConsensusStateHeightsResponse) XXX_Size() int {
+	return m.Size()
+}
+func (m *QueryConsensusStateHeightsResponse) XXX_DiscardUnknown() {
+	xxx_messageInfo_QueryConsensusStateHeightsResponse.DiscardUnknown(m)
+}
+
+var xxx_messageInfo_QueryConsensusStateHeightsResponse proto.InternalMessageInfo
+
+func (m *QueryConsensusStateHeightsResponse) GetConsensusStateHeights() []Height {
+	if m != nil {
+		return m.ConsensusStateHeights
+	}
+	return nil
+}
+
+func (m *QueryConsensusStateHeightsResponse) GetPagination() *query.PageResponse {
+	if m != nil {
+		return m.Pagination
+	}
+	return nil
+}
+
 // QueryClientStatusRequest is the request type for the Query/ClientStatus RPC
 // method
 type QueryClientStatusRequest struct {
@@ -511,7 +623,7 @@ func (m *QueryClientStatusRequest) Reset()         { *m = QueryClientStatusReque
 func (m *QueryClientStatusRequest) String() string { return proto.CompactTextString(m) }
 func (*QueryClientStatusRequest) ProtoMessage()    {}
 func (*QueryClientStatusRequest) Descriptor() ([]byte, []int) {
-	return fileDescriptor_dc42cdfd1d52d76e, []int{8}
+	return fileDescriptor_dc42cdfd1d52d76e, []int{10}
 }
 func (m *QueryClientStatusRequest) XXX_Unmarshal(b []byte) error {
 	return m.Unmarshal(b)
@@ -557,7 +669,7 @@ func (m *QueryClientStatusResponse) Reset()         { *m = QueryClientStatusResp
 func (m *QueryClientStatusResponse) String() string { return proto.CompactTextString(m) }
 func (*QueryClientStatusResponse) ProtoMessage()    {}
 func (*QueryClientStatusResponse) Descriptor() ([]byte, []int) {
-	return fileDescriptor_dc42cdfd1d52d76e, []int{9}
+	return fileDescriptor_dc42cdfd1d52d76e, []int{11}
 }
 func (m *QueryClientStatusResponse) XXX_Unmarshal(b []byte) error {
 	return m.Unmarshal(b)
@@ -602,7 +714,7 @@ func (m *QueryClientParamsRequest) Reset()         { *m = QueryClientParamsReque
 func (m *QueryClientParamsRequest) String() string { return proto.CompactTextString(m) }
 func (*QueryClientParamsRequest) ProtoMessage()    {}
 func (*QueryClientParamsRequest) Descriptor() ([]byte, []int) {
-	return fileDescriptor_dc42cdfd1d52d76e, []int{10}
+	return fileDescriptor_dc42cdfd1d52d76e, []int{12}
 }
 func (m *QueryClientParamsRequest) XXX_Unmarshal(b []byte) error {
 	return m.Unmarshal(b)
@@ -642,7 +754,7 @@ func (m *QueryClientParamsResponse) Reset()         { *m = QueryClientParamsResp
 func (m *QueryClientParamsResponse) String() string { return proto.CompactTextString(m) }
 func (*QueryClientParamsResponse) ProtoMessage()    {}
 func (*QueryClientParamsResponse) Descriptor() ([]byte, []int) {
-	return fileDescriptor_dc42cdfd1d52d76e, []int{11}
+	return fileDescriptor_dc42cdfd1d52d76e, []int{13}
 }
 func (m *QueryClientParamsResponse) XXX_Unmarshal(b []byte) error {
 	return m.Unmarshal(b)
@@ -687,7 +799,7 @@ func (m *QueryUpgradedClientStateRequest) Reset()         { *m = QueryUpgradedCl
 func (m *QueryUpgradedClientStateRequest) String() string { return proto.CompactTextString(m) }
 func (*QueryUpgradedClientStateRequest) ProtoMessage()    {}
 func (*QueryUpgradedClientStateRequest) Descriptor() ([]byte, []int) {
-	return fileDescriptor_dc42cdfd1d52d76e, []int{12}
+	return fileDescriptor_dc42cdfd1d52d76e, []int{14}
 }
 func (m *QueryUpgradedClientStateRequest) XXX_Unmarshal(b []byte) error {
 	return m.Unmarshal(b)
@@ -727,7 +839,7 @@ func (m *QueryUpgradedClientStateResponse) Reset()         { *m = QueryUpgradedC
 func (m *QueryUpgradedClientStateResponse) String() string { return proto.CompactTextString(m) }
 func (*QueryUpgradedClientStateResponse) ProtoMessage()    {}
 func (*QueryUpgradedClientStateResponse) Descriptor() ([]byte, []int) {
-	return fileDescriptor_dc42cdfd1d52d76e, []int{13}
+	return fileDescriptor_dc42cdfd1d52d76e, []int{15}
 }
 func (m *QueryUpgradedClientStateResponse) XXX_Unmarshal(b []byte) error {
 	return m.Unmarshal(b)
@@ -772,7 +884,7 @@ func (m *QueryUpgradedConsensusStateRequest) Reset()         { *m = QueryUpgrade
 func (m *QueryUpgradedConsensusStateRequest) String() string { return proto.CompactTextString(m) }
 func (*QueryUpgradedConsensusStateRequest) ProtoMessage()    {}
 func (*QueryUpgradedConsensusStateRequest) Descriptor() ([]byte, []int) {
-	return fileDescriptor_dc42cdfd1d52d76e, []int{14}
+	return fileDescriptor_dc42cdfd1d52d76e, []int{16}
 }
 func (m *QueryUpgradedConsensusStateRequest) XXX_Unmarshal(b []byte) error {
 	return m.Unmarshal(b)
@@ -812,7 +924,7 @@ func (m *QueryUpgradedConsensusStateResponse) Reset()         { *m = QueryUpgrad
 func (m *QueryUpgradedConsensusStateResponse) String() string { return proto.CompactTextString(m) }
 func (*QueryUpgradedConsensusStateResponse) ProtoMessage()    {}
 func (*QueryUpgradedConsensusStateResponse) Descriptor() ([]byte, []int) {
-	return fileDescriptor_dc42cdfd1d52d76e, []int{15}
+	return fileDescriptor_dc42cdfd1d52d76e, []int{17}
 }
 func (m *QueryUpgradedConsensusStateResponse) XXX_Unmarshal(b []byte) error {
 	return m.Unmarshal(b)
@@ -857,6 +969,8 @@ func init() {
 	proto.RegisterType((*QueryConsensusStateResponse)(nil), "ibc.core.client.v1.QueryConsensusStateResponse")
 	proto.RegisterType((*QueryConsensusStatesRequest)(nil), "ibc.core.client.v1.QueryConsensusStatesRequest")
 	proto.RegisterType((*QueryConsensusStatesResponse)(nil), "ibc.core.client.v1.QueryConsensusStatesResponse")
+	proto.RegisterType((*QueryConsensusStateHeightsRequest)(nil), "ibc.core.client.v1.QueryConsensusStateHeightsRequest")
+	proto.RegisterType((*QueryConsensusStateHeightsResponse)(nil), "ibc.core.client.v1.QueryConsensusStateHeightsResponse")
 	proto.RegisterType((*QueryClientStatusRequest)(nil), "ibc.core.client.v1.QueryClientStatusRequest")
 	proto.RegisterType((*QueryClientStatusResponse)(nil), "ibc.core.client.v1.QueryClientStatusResponse")
 	proto.RegisterType((*QueryClientParamsRequest)(nil), "ibc.core.client.v1.QueryClientParamsRequest")
@@ -870,69 +984,74 @@ func init() {
 func init() { proto.RegisterFile("ibc/core/client/v1/query.proto", fileDescriptor_dc42cdfd1d52d76e) }
 
 var fileDescriptor_dc42cdfd1d52d76e = []byte{
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+	0x00,
 }
 
 // Reference imports to suppress errors if they are not otherwise used.
@@ -957,6 +1076,8 @@ type QueryClient interface {
 	// ConsensusStates queries all the consensus state associated with a given
 	// client.
 	ConsensusStates(ctx context.Context, in *QueryConsensusStatesRequest, opts ...grpc.CallOption) (*QueryConsensusStatesResponse, error)
+	// ConsensusStateHeights queries the height of every consensus states associated with a given client.
+	ConsensusStateHeights(ctx context.Context, in *QueryConsensusStateHeightsRequest, opts ...grpc.CallOption) (*QueryConsensusStateHeightsResponse, error)
 	// Status queries the status of an IBC client.
 	ClientStatus(ctx context.Context, in *QueryClientStatusRequest, opts ...grpc.CallOption) (*QueryClientStatusResponse, error)
 	// ClientParams queries all parameters of the ibc client.
@@ -1011,6 +1132,15 @@ func (c *queryClient) ConsensusStates(ctx context.Context, in *QueryConsensusSta
 	return out, nil
 }
 
+func (c *queryClient) ConsensusStateHeights(ctx context.Context, in *QueryConsensusStateHeightsRequest, opts ...grpc.CallOption) (*QueryConsensusStateHeightsResponse, error) {
+	out := new(QueryConsensusStateHeightsResponse)
+	err := c.cc.Invoke(ctx, "/ibc.core.client.v1.Query/ConsensusStateHeights", in, out, opts...)
+	if err != nil {
+		return nil, err
+	}
+	return out, nil
+}
+
 func (c *queryClient) ClientStatus(ctx context.Context, in *QueryClientStatusRequest, opts ...grpc.CallOption) (*QueryClientStatusResponse, error) {
 	out := new(QueryClientStatusResponse)
 	err := c.cc.Invoke(ctx, "/ibc.core.client.v1.Query/ClientStatus", in, out, opts...)
@@ -1059,6 +1189,8 @@ type QueryServer interface {
 	// ConsensusStates queries all the consensus state associated with a given
 	// client.
 	ConsensusStates(context.Context, *QueryConsensusStatesRequest) (*QueryConsensusStatesResponse, error)
+	// ConsensusStateHeights queries the height of every consensus states associated with a given client.
+	ConsensusStateHeights(context.Context, *QueryConsensusStateHeightsRequest) (*QueryConsensusStateHeightsResponse, error)
 	// Status queries the status of an IBC client.
 	ClientStatus(context.Context, *QueryClientStatusRequest) (*QueryClientStatusResponse, error)
 	// ClientParams queries all parameters of the ibc client.
@@ -1085,6 +1217,9 @@ func (*UnimplementedQueryServer) ConsensusState(ctx context.Context, req *QueryC
 func (*UnimplementedQueryServer) ConsensusStates(ctx context.Context, req *QueryConsensusStatesRequest) (*QueryConsensusStatesResponse, error) {
 	return nil, status.Errorf(codes.Unimplemented, "method ConsensusStates not implemented")
 }
+func (*UnimplementedQueryServer) ConsensusStateHeights(ctx context.Context, req *QueryConsensusStateHeightsRequest) (*QueryConsensusStateHeightsResponse, error) {
+	return nil, status.Errorf(codes.Unimplemented, "method ConsensusStateHeights not implemented")
+}
 func (*UnimplementedQueryServer) ClientStatus(ctx context.Context, req *QueryClientStatusRequest) (*QueryClientStatusResponse, error) {
 	return nil, status.Errorf(codes.Unimplemented, "method ClientStatus not implemented")
 }
@@ -1174,6 +1309,24 @@ func _Query_ConsensusStates_Handler(srv interface{}, ctx context.Context, dec fu
 	return interceptor(ctx, in, info, handler)
 }
 
+func _Query_ConsensusStateHeights_Handler(srv interface{}, ctx context.Context, dec func(interface{}) error, interceptor grpc.UnaryServerInterceptor) (interface{}, error) {
+	in := new(QueryConsensusStateHeightsRequest)
+	if err := dec(in); err != nil {
+		return nil, err
+	}
+	if interceptor == nil {
+		return srv.(QueryServer).ConsensusStateHeights(ctx, in)
+	}
+	info := &grpc.UnaryServerInfo{
+		Server:     srv,
+		FullMethod: "/ibc.core.client.v1.Query/ConsensusStateHeights",
+	}
+	handler := func(ctx context.Context, req interface{}) (interface{}, error) {
+		return srv.(QueryServer).ConsensusStateHeights(ctx, req.(*QueryConsensusStateHeightsRequest))
+	}
+	return interceptor(ctx, in, info, handler)
+}
+
 func _Query_ClientStatus_Handler(srv interface{}, ctx context.Context, dec func(interface{}) error, interceptor grpc.UnaryServerInterceptor) (interface{}, error) {
 	in := new(QueryClientStatusRequest)
 	if err := dec(in); err != nil {
@@ -1266,6 +1419,10 @@ var _Query_serviceDesc = grpc.ServiceDesc{
 			MethodName: "ConsensusStates",
 			Handler:    _Query_ConsensusStates_Handler,
 		},
+		{
+			MethodName: "ConsensusStateHeights",
+			Handler:    _Query_ConsensusStateHeights_Handler,
+		},
 		{
 			MethodName: "ClientStatus",
 			Handler:    _Query_ClientStatus_Handler,
@@ -1646,6 +1803,97 @@ func (m *QueryConsensusStatesResponse) MarshalToSizedBuffer(dAtA []byte) (int, e
 	return len(dAtA) - i, nil
 }
 
+func (m *QueryConsensusStateHeightsRequest) Marshal() (dAtA []byte, err error) {
+	size := m.Size()
+	dAtA = make([]byte, size)
+	n, err := m.MarshalToSizedBuffer(dAtA[:size])
+	if err != nil {
+		return nil, err
+	}
+	return dAtA[:n], nil
+}
+
+func (m *QueryConsensusStateHeightsRequest) MarshalTo(dAtA []byte) (int, error) {
+	size := m.Size()
+	return m.MarshalToSizedBuffer(dAtA[:size])
+}
+
+func (m *QueryConsensusStateHeightsRequest) MarshalToSizedBuffer(dAtA []byte) (int, error) {
+	i := len(dAtA)
+	_ = i
+	var l int
+	_ = l
+	if m.Pagination != nil {
+		{
+			size, err := m.Pagination.MarshalToSizedBuffer(dAtA[:i])
+			if err != nil {
+				return 0, err
+			}
+			i -= size
+			i = encodeVarintQuery(dAtA, i, uint64(size))
+		}
+		i--
+		dAtA[i] = 0x12
+	}
+	if len(m.ClientId) > 0 {
+		i -= len(m.ClientId)
+		copy(dAtA[i:], m.ClientId)
+		i = encodeVarintQuery(dAtA, i, uint64(len(m.ClientId)))
+		i--
+		dAtA[i] = 0xa
+	}
+	return len(dAtA) - i, nil
+}
+
+func (m *QueryConsensusStateHeightsResponse) Marshal() (dAtA []byte, err error) {
+	size := m.Size()
+	dAtA = make([]byte, size)
+	n, err := m.MarshalToSizedBuffer(dAtA[:size])
+	if err != nil {
+		return nil, err
+	}
+	return dAtA[:n], nil
+}
+
+func (m *QueryConsensusStateHeightsResponse) MarshalTo(dAtA []byte) (int, error) {
+	size := m.Size()
+	return m.MarshalToSizedBuffer(dAtA[:size])
+}
+
+func (m *QueryConsensusStateHeightsResponse) MarshalToSizedBuffer(dAtA []byte) (int, error) {
+	i := len(dAtA)
+	_ = i
+	var l int
+	_ = l
+	if m.Pagination != nil {
+		{
+			size, err := m.Pagination.MarshalToSizedBuffer(dAtA[:i])
+			if err != nil {
+				return 0, err
+			}
+			i -= size
+			i = encodeVarintQuery(dAtA, i, uint64(size))
+		}
+		i--
+		dAtA[i] = 0x12
+	}
+	if len(m.ConsensusStateHeights) > 0 {
+		for iNdEx := len(m.ConsensusStateHeights) - 1; iNdEx >= 0; iNdEx-- {
+			{
+				size, err := m.ConsensusStateHeights[iNdEx].MarshalToSizedBuffer(dAtA[:i])
+				if err != nil {
+					return 0, err
+				}
+				i -= size
+				i = encodeVarintQuery(dAtA, i, uint64(size))
+			}
+			i--
+			dAtA[i] = 0xa
+		}
+	}
+	return len(dAtA) - i, nil
+}
+
 func (m *QueryClientStatusRequest) Marshal() (dAtA []byte, err error) {
 	size := m.Size()
 	dAtA = make([]byte, size)
@@ -2032,6 +2280,42 @@ func (m *QueryConsensusStatesResponse) Size() (n int) {
 	return n
 }
 
+func (m *QueryConsensusStateHeightsRequest) Size() (n int) {
+	if m == nil {
+		return 0
+	}
+	var l int
+	_ = l
+	l = len(m.ClientId)
+	if l > 0 {
+		n += 1 + l + sovQuery(uint64(l))
+	}
+	if m.Pagination != nil {
+		l = m.Pagination.Size()
+		n += 1 + l + sovQuery(uint64(l))
+	}
+	return n
+}
+
+func (m *QueryConsensusStateHeightsResponse) Size() (n int) {
+	if m == nil {
+		return 0
+	}
+	var l int
+	_ = l
+	if len(m.ConsensusStateHeights) > 0 {
+		for _, e := range m.ConsensusStateHeights {
+			l = e.Size()
+			n += 1 + l + sovQuery(uint64(l))
+		}
+	}
+	if m.Pagination != nil {
+		l = m.Pagination.Size()
+		n += 1 + l + sovQuery(uint64(l))
+	}
+	return n
+}
+
 func (m *QueryClientStatusRequest) Size() (n int) {
 	if m == nil {
 		return 0
@@ -3102,6 +3386,244 @@ func (m *QueryConsensusStatesResponse) Unmarshal(dAtA []byte) error {
 	}
 	return nil
 }
+func (m *QueryConsensusStateHeightsRequest) Unmarshal(dAtA []byte) error {
+	l := len(dAtA)
+	iNdEx := 0
+	for iNdEx < l {
+		preIndex := iNdEx
+		var wire uint64
+		for shift := uint(0); ; shift += 7 {
+			if shift >= 64 {
+				return ErrIntOverflowQuery
+			}
+			if iNdEx >= l {
+				return io.ErrUnexpectedEOF
+			}
+			b := dAtA[iNdEx]
+			iNdEx++
+			wire |= uint64(b&0x7F) << shift
+			if b < 0x80 {
+				break
+			}
+		}
+		fieldNum := int32(wire >> 3)
+		wireType := int(wire & 0x7)
+		if wireType == 4 {
+			return fmt.Errorf("proto: QueryConsensusStateHeightsRequest: wiretype end group for non-group")
+		}
+		if fieldNum <= 0 {
+			return fmt.Errorf("proto: QueryConsensusStateHeightsRequest: illegal tag %d (wire type %d)", fieldNum, wire)
+		}
+		switch fieldNum {
+		case 1:
+			if wireType != 2 {
+				return fmt.Errorf("proto: wrong wireType = %d for field ClientId", wireType)
+			}
+			var stringLen uint64
+			for shift := uint(0); ; shift += 7 {
+				if shift >= 64 {
+					return ErrIntOverflowQuery
+				}
+				if iNdEx >= l {
+					return io.ErrUnexpectedEOF
+				}
+				b := dAtA[iNdEx]
+				iNdEx++
+				stringLen |= uint64(b&0x7F) << shift
+				if b < 0x80 {
+					break
+				}
+			}
+			intStringLen := int(stringLen)
+			if intStringLen < 0 {
+				return ErrInvalidLengthQuery
+			}
+			postIndex := iNdEx + intStringLen
+			if postIndex < 0 {
+				return ErrInvalidLengthQuery
+			}
+			if postIndex > l {
+				return io.ErrUnexpectedEOF
+			}
+			m.ClientId = string(dAtA[iNdEx:postIndex])
+			iNdEx = postIndex
+		case 2:
+			if wireType != 2 {
+				return fmt.Errorf("proto: wrong wireType = %d for field Pagination", wireType)
+			}
+			var msglen int
+			for shift := uint(0); ; shift += 7 {
+				if shift >= 64 {
+					return ErrIntOverflowQuery
+				}
+				if iNdEx >= l {
+					return io.ErrUnexpectedEOF
+				}
+				b := dAtA[iNdEx]
+				iNdEx++
+				msglen |= int(b&0x7F) << shift
+				if b < 0x80 {
+					break
+				}
+			}
+			if msglen < 0 {
+				return ErrInvalidLengthQuery
+			}
+			postIndex := iNdEx + msglen
+			if postIndex < 0 {
+				return ErrInvalidLengthQuery
+			}
+			if postIndex > l {
+				return io.ErrUnexpectedEOF
+			}
+			if m.Pagination == nil {
+				m.Pagination = &query.PageRequest{}
+			}
+			if err := m.Pagination.Unmarshal(dAtA[iNdEx:postIndex]); err != nil {
+				return err
+			}
+			iNdEx = postIndex
+		default:
+			iNdEx = preIndex
+			skippy, err := skipQuery(dAtA[iNdEx:])
+			if err != nil {
+				return err
+			}
+			if (skippy < 0) || (iNdEx+skippy) < 0 {
+				return ErrInvalidLengthQuery
+			}
+			if (iNdEx + skippy) > l {
+				return io.ErrUnexpectedEOF
+			}
+			iNdEx += skippy
+		}
+	}
+
+	if iNdEx > l {
+		return io.ErrUnexpectedEOF
+	}
+	return nil
+}
+func (m *QueryConsensusStateHeightsResponse) Unmarshal(dAtA []byte) error {
+	l := len(dAtA)
+	iNdEx := 0
+	for iNdEx < l {
+		preIndex := iNdEx
+		var wire uint64
+		for shift := uint(0); ; shift += 7 {
+			if shift >= 64 {
+				return ErrIntOverflowQuery
+			}
+			if iNdEx >= l {
+				return io.ErrUnexpectedEOF
+			}
+			b := dAtA[iNdEx]
+			iNdEx++
+			wire |= uint64(b&0x7F) << shift
+			if b < 0x80 {
+				break
+			}
+		}
+		fieldNum := int32(wire >> 3)
+		wireType := int(wire & 0x7)
+		if wireType == 4 {
+			return fmt.Errorf("proto: QueryConsensusStateHeightsResponse: wiretype end group for non-group")
+		}
+		if fieldNum <= 0 {
+			return fmt.Errorf("proto: QueryConsensusStateHeightsResponse: illegal tag %d (wire type %d)", fieldNum, wire)
+		}
+		switch fieldNum {
+		case 1:
+			if wireType != 2 {
+				return fmt.Errorf("proto: wrong wireType = %d for field ConsensusStateHeights", wireType)
+			}
+			var msglen int
+			for shift := uint(0); ; shift += 7 {
+				if shift >= 64 {
+					return ErrIntOverflowQuery
+				}
+				if iNdEx >= l {
+					return io.ErrUnexpectedEOF
+				}
+				b := dAtA[iNdEx]
+				iNdEx++
+				msglen |= int(b&0x7F) << shift
+				if b < 0x80 {
+					break
+				}
+			}
+			if msglen < 0 {
+				return ErrInvalidLengthQuery
+			}
+			postIndex := iNdEx + msglen
+			if postIndex < 0 {
+				return ErrInvalidLengthQuery
+			}
+			if postIndex > l {
+				return io.ErrUnexpectedEOF
+			}
+			m.ConsensusStateHeights = append(m.ConsensusStateHeights, Height{})
+			if err := m.ConsensusStateHeights[len(m.ConsensusStateHeights)-1].Unmarshal(dAtA[iNdEx:postIndex]); err != nil {
+				return err
+			}
+			iNdEx = postIndex
+		case 2:
+			if wireType != 2 {
+				return fmt.Errorf("proto: wrong wireType = %d for field Pagination", wireType)
+			}
+			var msglen int
+			for shift := uint(0); ; shift += 7 {
+				if shift >= 64 {
+					return ErrIntOverflowQuery
+				}
+				if iNdEx >= l {
+					return io.ErrUnexpectedEOF
+				}
+				b := dAtA[iNdEx]
+				iNdEx++
+				msglen |= int(b&0x7F) << shift
+				if b < 0x80 {
+					break
+				}
+			}
+			if msglen < 0 {
+				return ErrInvalidLengthQuery
+			}
+			postIndex := iNdEx + msglen
+			if postIndex < 0 {
+				return ErrInvalidLengthQuery
+			}
+			if postIndex > l {
+				return io.ErrUnexpectedEOF
+			}
+			if m.Pagination == nil {
+				m.Pagination = &query.PageResponse{}
+			}
+			if err := m.Pagination.Unmarshal(dAtA[iNdEx:postIndex]); err != nil {
+				return err
+			}
+			iNdEx = postIndex
+		default:
+			iNdEx = preIndex
+			skippy, err := skipQuery(dAtA[iNdEx:])
+			if err != nil {
+				return err
+			}
+			if (skippy < 0) || (iNdEx+skippy) < 0 {
+				return ErrInvalidLengthQuery
+			}
+			if (iNdEx + skippy) > l {
+				return io.ErrUnexpectedEOF
+			}
+			iNdEx += skippy
+		}
+	}
+
+	if iNdEx > l {
+		return io.ErrUnexpectedEOF
+	}
+	return nil
+}
 func (m *QueryClientStatusRequest) Unmarshal(dAtA []byte) error {
 	l := len(dAtA)
 	iNdEx := 0
diff --git a/modules/core/02-client/types/query.pb.gw.go b/modules/core/02-client/types/query.pb.gw.go
index 3704fb07895..7bc1177962b 100644
--- a/modules/core/02-client/types/query.pb.gw.go
+++ b/modules/core/02-client/types/query.pb.gw.go
@@ -309,6 +309,78 @@ func local_request_Query_ConsensusStates_0(ctx context.Context, marshaler runtim
 
 }
 
+var (
+	filter_Query_ConsensusStateHeights_0 = &utilities.DoubleArray{Encoding: map[string]int{"client_id": 0}, Base: []int{1, 1, 0}, Check: []int{0, 1, 2}}
+)
+
+func request_Query_ConsensusStateHeights_0(ctx context.Context, marshaler runtime.Marshaler, client QueryClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
+	var protoReq QueryConsensusStateHeightsRequest
+	var metadata runtime.ServerMetadata
+
+	var (
+		val string
+		ok  bool
+		err error
+		_   = err
+	)
+
+	val, ok = pathParams["client_id"]
+	if !ok {
+		return nil, metadata, status.Errorf(codes.InvalidArgument, "missing parameter %s", "client_id")
+	}
+
+	protoReq.ClientId, err = runtime.String(val)
+
+	if err != nil {
+		return nil, metadata, status.Errorf(codes.InvalidArgument, "type mismatch, parameter: %s, error: %v", "client_id", err)
+	}
+
+	if err := req.ParseForm(); err != nil {
+		return nil, metadata, status.Errorf(codes.InvalidArgument, "%v", err)
+	}
+	if err := runtime.PopulateQueryParameters(&protoReq, req.Form, filter_Query_ConsensusStateHeights_0); err != nil {
+		return nil, metadata, status.Errorf(codes.InvalidArgument, "%v", err)
+	}
+
+	msg, err := client.ConsensusStateHeights(ctx, &protoReq, grpc.Header(&metadata.HeaderMD), grpc.Trailer(&metadata.TrailerMD))
+	return msg, metadata, err
+
+}
+
+func local_request_Query_ConsensusStateHeights_0(ctx context.Context, marshaler runtime.Marshaler, server QueryServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
+	var protoReq QueryConsensusStateHeightsRequest
+	var metadata runtime.ServerMetadata
+
+	var (
+		val string
+		ok  bool
+		err error
+		_   = err
+	)
+
+	val, ok = pathParams["client_id"]
+	if !ok {
+		return nil, metadata, status.Errorf(codes.InvalidArgument, "missing parameter %s", "client_id")
+	}
+
+	protoReq.ClientId, err = runtime.String(val)
+
+	if err != nil {
+		return nil, metadata, status.Errorf(codes.InvalidArgument, "type mismatch, parameter: %s, error: %v", "client_id", err)
+	}
+
+	if err := req.ParseForm(); err != nil {
+		return nil, metadata, status.Errorf(codes.InvalidArgument, "%v", err)
+	}
+	if err := runtime.PopulateQueryParameters(&protoReq, req.Form, filter_Query_ConsensusStateHeights_0); err != nil {
+		return nil, metadata, status.Errorf(codes.InvalidArgument, "%v", err)
+	}
+
+	msg, err := server.ConsensusStateHeights(ctx, &protoReq)
+	return msg, metadata, err
+
+}
+
 func request_Query_ClientStatus_0(ctx context.Context, marshaler runtime.Marshaler, client QueryClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
 	var protoReq QueryClientStatusRequest
 	var metadata runtime.ServerMetadata
@@ -503,6 +575,26 @@ func RegisterQueryHandlerServer(ctx context.Context, mux *runtime.ServeMux, serv
 
 	})
 
+	mux.Handle("GET", pattern_Query_ConsensusStateHeights_0, func(w http.ResponseWriter, req *http.Request, pathParams map[string]string) {
+		ctx, cancel := context.WithCancel(req.Context())
+		defer cancel()
+		inboundMarshaler, outboundMarshaler := runtime.MarshalerForRequest(mux, req)
+		rctx, err := runtime.AnnotateIncomingContext(ctx, mux, req)
+		if err != nil {
+			runtime.HTTPError(ctx, mux, outboundMarshaler, w, req, err)
+			return
+		}
+		resp, md, err := local_request_Query_ConsensusStateHeights_0(rctx, inboundMarshaler, server, req, pathParams)
+		ctx = runtime.NewServerMetadataContext(ctx, md)
+		if err != nil {
+			runtime.HTTPError(ctx, mux, outboundMarshaler, w, req, err)
+			return
+		}
+
+		forward_Query_ConsensusStateHeights_0(ctx, mux, outboundMarshaler, w, req, resp, mux.GetForwardResponseOptions()...)
+
+	})
+
 	mux.Handle("GET", pattern_Query_ClientStatus_0, func(w http.ResponseWriter, req *http.Request, pathParams map[string]string) {
 		ctx, cancel := context.WithCancel(req.Context())
 		defer cancel()
@@ -704,6 +796,26 @@ func RegisterQueryHandlerClient(ctx context.Context, mux *runtime.ServeMux, clie
 
 	})
 
+	mux.Handle("GET", pattern_Query_ConsensusStateHeights_0, func(w http.ResponseWriter, req *http.Request, pathParams map[string]string) {
+		ctx, cancel := context.WithCancel(req.Context())
+		defer cancel()
+		inboundMarshaler, outboundMarshaler := runtime.MarshalerForRequest(mux, req)
+		rctx, err := runtime.AnnotateContext(ctx, mux, req)
+		if err != nil {
+			runtime.HTTPError(ctx, mux, outboundMarshaler, w, req, err)
+			return
+		}
+		resp, md, err := request_Query_ConsensusStateHeights_0(rctx, inboundMarshaler, client, req, pathParams)
+		ctx = runtime.NewServerMetadataContext(ctx, md)
+		if err != nil {
+			runtime.HTTPError(ctx, mux, outboundMarshaler, w, req, err)
+			return
+		}
+
+		forward_Query_ConsensusStateHeights_0(ctx, mux, outboundMarshaler, w, req, resp, mux.GetForwardResponseOptions()...)
+
+	})
+
 	mux.Handle("GET", pattern_Query_ClientStatus_0, func(w http.ResponseWriter, req *http.Request, pathParams map[string]string) {
 		ctx, cancel := context.WithCancel(req.Context())
 		defer cancel()
@@ -796,6 +908,8 @@ var (
 
 	pattern_Query_ConsensusStates_0 = runtime.MustPattern(runtime.NewPattern(1, []int{2, 0, 2, 1, 2, 2, 2, 3, 2, 4, 1, 0, 4, 1, 5, 5}, []string{"ibc", "core", "client", "v1", "consensus_states", "client_id"}, "", runtime.AssumeColonVerbOpt(true)))
 
+	pattern_Query_ConsensusStateHeights_0 = runtime.MustPattern(runtime.NewPattern(1, []int{2, 0, 2, 1, 2, 2, 2, 3, 2, 4, 2, 5, 1, 0, 4, 1, 5, 6}, []string{"ibc", "core", "client", "v1", "consensus_states", "heights", "client_id"}, "", runtime.AssumeColonVerbOpt(true)))
+
 	pattern_Query_ClientStatus_0 = runtime.MustPattern(runtime.NewPattern(1, []int{2, 0, 2, 1, 2, 2, 2, 3, 2, 4, 1, 0, 4, 1, 5, 5}, []string{"ibc", "core", "client", "v1", "client_status", "client_id"}, "", runtime.AssumeColonVerbOpt(true)))
 
 	pattern_Query_ClientParams_0 = runtime.MustPattern(runtime.NewPattern(1, []int{2, 0, 2, 1, 2, 2, 2, 3}, []string{"ibc", "client", "v1", "params"}, "", runtime.AssumeColonVerbOpt(true)))
@@ -814,6 +928,8 @@ var (
 
 	forward_Query_ConsensusStates_0 = runtime.ForwardResponseMessage
 
+	forward_Query_ConsensusStateHeights_0 = runtime.ForwardResponseMessage
+
 	forward_Query_ClientStatus_0 = runtime.ForwardResponseMessage
 
 	forward_Query_ClientParams_0 = runtime.ForwardResponseMessage
diff --git a/modules/core/keeper/grpc_query.go b/modules/core/keeper/grpc_query.go
index 2fb171a9c02..138a4e7aa01 100644
--- a/modules/core/keeper/grpc_query.go
+++ b/modules/core/keeper/grpc_query.go
@@ -28,6 +28,11 @@ func (q Keeper) ConsensusStates(c context.Context, req *clienttypes.QueryConsens
 	return q.ClientKeeper.ConsensusStates(c, req)
 }
 
+// ConsensusStateHeights implements the IBC QueryServer interface
+func (q Keeper) ConsensusStateHeights(c context.Context, req *clienttypes.QueryConsensusStateHeightsRequest) (*clienttypes.QueryConsensusStateHeightsResponse, error) {
+	return q.ClientKeeper.ConsensusStateHeights(c, req)
+}
+
 // ClientStatus implements the IBC QueryServer interface
 func (q Keeper) ClientStatus(c context.Context, req *clienttypes.QueryClientStatusRequest) (*clienttypes.QueryClientStatusResponse, error) {
 	return q.ClientKeeper.ClientStatus(c, req)
diff --git a/proto/ibc/core/client/v1/query.proto b/proto/ibc/core/client/v1/query.proto
index 91a906fe54b..72c4fa0e3d7 100644
--- a/proto/ibc/core/client/v1/query.proto
+++ b/proto/ibc/core/client/v1/query.proto
@@ -36,6 +36,11 @@ service Query {
     option (google.api.http).get = "/ibc/core/client/v1/consensus_states/{client_id}";
   }
 
+  // ConsensusStateHeights queries the height of every consensus states associated with a given client.
+  rpc ConsensusStateHeights(QueryConsensusStateHeightsRequest) returns (QueryConsensusStateHeightsResponse) {
+    option (google.api.http).get = "/ibc/core/client/v1/consensus_states/heights/{client_id}";
+  }
+
   // Status queries the status of an IBC client.
   rpc ClientStatus(QueryClientStatusRequest) returns (QueryClientStatusResponse) {
     option (google.api.http).get = "/ibc/core/client/v1/client_status/{client_id}";
@@ -137,6 +142,24 @@ message QueryConsensusStatesResponse {
   cosmos.base.query.v1beta1.PageResponse pagination = 2;
 }
 
+// QueryConsensusStateHeightsRequest is the request type for Query/ConsensusStateHeights
+// RPC method.
+message QueryConsensusStateHeightsRequest {
+  // client identifier
+  string client_id = 1;
+  // pagination request
+  cosmos.base.query.v1beta1.PageRequest pagination = 2;
+}
+
+// QueryConsensusStateHeightsResponse is the response type for the
+// Query/ConsensusStateHeights RPC method
+message QueryConsensusStateHeightsResponse {
+  // consensus state heights
+  repeated Height consensus_state_heights = 1 [(gogoproto.nullable) = false];
+  // pagination response
+  cosmos.base.query.v1beta1.PageResponse pagination = 2;
+}
+
 // QueryClientStatusRequest is the request type for the Query/ClientStatus RPC
 // method
 message QueryClientStatusRequest {