diff --git a/python/taichi/_kernels.py b/python/taichi/_kernels.py
index 2d4b52b82359b..4b1d86302f84a 100644
--- a/python/taichi/_kernels.py
+++ b/python/taichi/_kernels.py
@@ -34,7 +34,7 @@ def fill_ndarray(ndarray: ndarray_type.ndarray(), val: template()):
 @kernel
 def fill_ndarray_matrix(ndarray: ndarray_type.ndarray(), val: template()):
     for I in grouped(ndarray):
-        ndarray[I].fill(val)
+        ndarray[I] = val
 
 
 @kernel
diff --git a/python/taichi/lang/_ndarray.py b/python/taichi/lang/_ndarray.py
index 5cdbc345af8c9..d437145371eb4 100644
--- a/python/taichi/lang/_ndarray.py
+++ b/python/taichi/lang/_ndarray.py
@@ -6,6 +6,7 @@
 from taichi.lang.util import cook_dtype, python_scope, to_numpy_type
 from taichi.types import primitive_types
 from taichi.types.ndarray_type import NdarrayTypeMetadata
+from taichi.types.compound_types import TensorType
 from taichi.types.utils import is_real, is_signed
 
 
@@ -69,6 +70,8 @@ def fill(self, val):
         """
         if impl.current_cfg().arch != _ti_core.Arch.cuda and impl.current_cfg().arch != _ti_core.Arch.x64:
             self._fill_by_kernel(val)
+        elif isinstance(self.element_type, TensorType):
+            self._fill_by_kernel(val)
         elif self.dtype == primitive_types.f32:
             impl.get_runtime().prog.fill_float(self.arr, val)
         elif self.dtype == primitive_types.i32:
diff --git a/python/taichi/lang/matrix.py b/python/taichi/lang/matrix.py
index 4d2123b3e65ec..7d7fb13e531d9 100644
--- a/python/taichi/lang/matrix.py
+++ b/python/taichi/lang/matrix.py
@@ -1674,7 +1674,19 @@ def __deepcopy__(self, memo=None):
     def _fill_by_kernel(self, val):
         from taichi._kernels import fill_ndarray_matrix  # pylint: disable=C0415
 
-        fill_ndarray_matrix(self, val)
+        shape = self.element_type.shape()
+        n = shape[0]
+        m = 1
+        if len(shape) > 1:
+            m = shape[1]
+
+        prim_dtype = self.element_type.element_type()
+        matrix_type = MatrixType(n, m, len(shape), prim_dtype)
+        if isinstance(val, Matrix):
+            value = val
+        else:
+            value = matrix_type(val)
+        fill_ndarray_matrix(self, value)
 
     @python_scope
     def __repr__(self):
@@ -1770,7 +1782,14 @@ def __deepcopy__(self, memo=None):
     def _fill_by_kernel(self, val):
         from taichi._kernels import fill_ndarray_matrix  # pylint: disable=C0415
 
-        fill_ndarray_matrix(self, val)
+        shape = self.element_type.shape()
+        prim_dtype = self.element_type.element_type()
+        vector_type = VectorType(shape[0], prim_dtype)
+        if isinstance(val, Vector):
+            value = val
+        else:
+            value = vector_type(val)
+        fill_ndarray_matrix(self, value)
 
     @python_scope
     def __repr__(self):
diff --git a/tests/python/test_ndarray.py b/tests/python/test_ndarray.py
index 15a1c971bb122..e3c89fa3e0f00 100644
--- a/tests/python/test_ndarray.py
+++ b/tests/python/test_ndarray.py
@@ -848,3 +848,22 @@ def test_read_write_f64_python_scope():
     y = ti.ndarray(dtype=ti.math.vec2, shape=2)
     y[0] = [1.0, 2.0]
     assert y[0] == [1.0, 2.0]
+
+
+@test_utils.test(arch=supported_archs_taichi_ndarray)
+def test_ndarray_fill():
+    vec2 = ti.types.vector(2, ti.f32)
+    x_vec = ti.ndarray(vec2, (512, 512))
+    x_vec.fill(1.0)
+    assert (x_vec[2, 2] == [1.0, 1.0]).all()
+
+    x_vec.fill(vec2(2.0, 4.0))
+    assert (x_vec[3, 3] == [2.0, 4.0]).all()
+
+    mat2x2 = ti.types.matrix(2, 2, ti.f32)
+    x_mat = ti.ndarray(mat2x2, (512, 512))
+    x_mat.fill(2.0)
+    assert (x_mat[2, 2] == [[2.0, 2.0], [2.0, 2.0]]).all()
+
+    x_mat.fill(mat2x2([[2.0, 4.0], [1.0, 3.0]]))
+    assert (x_mat[3, 3] == [[2.0, 4.0], [1.0, 3.0]]).all()