diff --git a/src/parser.cc b/src/parser.cc
index c5374d136..773b8967d 100644
--- a/src/parser.cc
+++ b/src/parser.cc
@@ -1416,6 +1416,7 @@ void addNestedModel(ElementPtr _sdf, ElementPtr _includeSDF, Errors &_errors)
   }
 
   _includeSDF->ClearElements();
+  _includeSDF->RemoveAllAttributes();
   readString(str, _includeSDF, _errors);
 
   elem = _includeSDF->GetElement("model")->GetFirstElement();
diff --git a/test/integration/model/model_with_custom_elements/model.config b/test/integration/model/model_with_custom_elements/model.config
new file mode 100644
index 000000000..f374803a5
--- /dev/null
+++ b/test/integration/model/model_with_custom_elements/model.config
@@ -0,0 +1,5 @@
+<?xml version="1.0"?>
+<model>
+  <name>model_with_custom_elements</name>
+  <sdf version="1.7">model.sdf</sdf>
+</model>
diff --git a/test/integration/model/model_with_custom_elements/model.sdf b/test/integration/model/model_with_custom_elements/model.sdf
new file mode 100644
index 000000000..d11a9291a
--- /dev/null
+++ b/test/integration/model/model_with_custom_elements/model.sdf
@@ -0,0 +1,22 @@
+<?xml version="1.0" ?>
+<sdf version="1.7" xmlns:mysim="http://example.org/mysim/schema">
+  <model name="M1">
+    <link name="L1" mysim:custom_attr_str="A" mysim:custom_attr_int="5" />
+    <link name="L2" />
+    <joint name="J1" type="revolute">
+      <parent>L1</parent>
+      <child>L2</child>
+    </joint>
+
+    <model name="M2">
+      <link name="L1" mysim:custom_attr_str="B">
+        <mysim:transmission name="simple_trans">
+          <mysim:type>transmission_interface/SimpleTransmission</mysim:type>
+          <mysim:joint name="J1">
+            <mysim:hardwareInterface>EffortJointInterface</mysim:hardwareInterface>
+          </mysim:joint>
+        </mysim:transmission>
+      </link>
+    </model>
+  </model>
+</sdf>
diff --git a/test/integration/sdf_custom.cc b/test/integration/sdf_custom.cc
index 2b29d4f67..9f3ad54ab 100644
--- a/test/integration/sdf_custom.cc
+++ b/test/integration/sdf_custom.cc
@@ -82,3 +82,286 @@ TEST(SDFParser, CustomElements)
       tranJointElement->Get<std::string>("mysim:hardwareInterface");
   EXPECT_EQ("EffortJointInterface", tranHwInterface);
 }
+
+/////////////////////////////////////////////////
+TEST(SDFParser, ReloadCustomElements)
+{
+  const std::string sdfTestFile =
+      sdf::testing::TestFile("integration", "custom_elems_attrs.sdf");
+
+  // load file with custom elements
+  sdf::Root root1;
+  sdf::Errors errors = root1.Load(sdfTestFile);
+  EXPECT_TRUE(errors.empty());
+
+  // reload string output of root1
+  sdf::Root root2;
+  errors = root2.LoadSdfString(root1.Element()->ToString(""));
+  EXPECT_TRUE(errors.empty());
+
+  // check that root1 and root2 equal
+  const sdf::World *world1 = root1.WorldByIndex(0);
+  const sdf::World *world2 = root2.WorldByIndex(0);
+  ASSERT_NE(nullptr, world1);
+  ASSERT_NE(nullptr, world2);
+
+  const sdf::Model *model1 = world1->ModelByIndex(0);
+  const sdf::Model *model2 = world2->ModelByIndex(0);
+  ASSERT_NE(nullptr, model1);
+  ASSERT_NE(nullptr, model2);
+  EXPECT_EQ(model1->Element()->ToString(""), model2->Element()->ToString(""));
+
+  const sdf::Link *link1 = model1->LinkByIndex(0);
+  const sdf::Link *link2 = model2->LinkByIndex(0);
+  ASSERT_NE(nullptr, link1);
+  ASSERT_NE(nullptr, link2);
+  EXPECT_EQ(link1->Element()->ToString(""), link2->Element()->ToString(""));
+
+  sdf::ElementPtr customElem1 =
+      model1->Element()->FindElement("mysim:transmission");
+  sdf::ElementPtr customElem2 =
+      model2->Element()->FindElement("mysim:transmission");
+  ASSERT_NE(nullptr, customElem1);
+  ASSERT_NE(nullptr, customElem2);
+
+  const std::string customElemStr =
+R"(<mysim:transmission name='simple_trans'>
+  <mysim:type>transmission_interface/SimpleTransmission</mysim:type>
+  <mysim:joint name='J1'>
+    <mysim:hardwareInterface>EffortJointInterface</mysim:hardwareInterface>
+  </mysim:joint>
+</mysim:transmission>
+)";
+  EXPECT_EQ(customElemStr, customElem1->ToString(""));
+  EXPECT_EQ(customElemStr, customElem2->ToString(""));
+
+  sdf::ElementPtr customDesc1 =
+      world1->Element()->FindElement("mysim:description");
+  sdf::ElementPtr customDesc2 =
+      world2->Element()->FindElement("mysim:description");
+  ASSERT_NE(nullptr, customDesc1);
+  ASSERT_NE(nullptr, customDesc2);
+
+  const std::string customDescStr =
+    "<mysim:description>Description of this world</mysim:description>\n";
+  EXPECT_EQ(customDescStr, customDesc1->ToString(""));
+  EXPECT_EQ(customDescStr, customDesc2->ToString(""));
+}
+
+/////////////////////////////////////////////////
+TEST(SDFParser, ReloadIncludedCustomElements)
+{
+  const std::string modelPath = sdf::testing::TestFile("integration", "model");
+
+  sdf::setFindCallback(
+    [&](const std::string &_file)
+    {
+      return sdf::filesystem::append(modelPath, _file);
+    });
+
+  const std::string sdfStr =
+R"(<sdf version='1.7'>
+  <world name='default'>
+    <include>
+      <uri>model_with_custom_elements</uri>
+    </include>
+  </world>
+</sdf>
+)";
+
+  // load included file with custom elements
+  sdf::Root root1;
+  sdf::Errors errors = root1.LoadSdfString(sdfStr);
+  EXPECT_TRUE(errors.empty());
+
+  // reload string output of root1
+  sdf::Root root2;
+  errors = root2.LoadSdfString(root1.Element()->ToString(""));
+  EXPECT_TRUE(errors.empty());
+
+  // check that root1 and root2 equal
+  EXPECT_EQ(root1.Element()->ToString(""), root2.Element()->ToString(""));
+
+  const sdf::World *world1 = root1.WorldByIndex(0);
+  const sdf::World *world2 = root2.WorldByIndex(0);
+  ASSERT_NE(nullptr, world1);
+  ASSERT_NE(nullptr, world2);
+
+  // //model[@name=M1]
+  const sdf::Model *model11 = world1->ModelByIndex(0);
+  const sdf::Model *model12 = world2->ModelByIndex(0);
+  ASSERT_NE(nullptr, model11);
+  ASSERT_NE(nullptr, model12);
+  EXPECT_EQ(model11->Element()->ToString(""), model12->Element()->ToString(""));
+
+  // //model[@name=M1]/link[@name=L1]
+  const sdf::Link *model11link1 = model11->LinkByIndex(0);
+  const sdf::Link *model12link2 = model12->LinkByIndex(0);
+  ASSERT_NE(nullptr, model11link1);
+  ASSERT_NE(nullptr, model12link2);
+
+  const std::string linkCustomAttrStr =
+    "<link name='L1' mysim:custom_attr_str='A' mysim:custom_attr_int='5'/>\n";
+  EXPECT_EQ(linkCustomAttrStr, model11link1->Element()->ToString(""));
+  EXPECT_EQ(linkCustomAttrStr, model12link2->Element()->ToString(""));
+
+  // //model[@name=M1]/model[@name=M2]
+  const sdf::Model *model21 = model11->ModelByIndex(0);
+  const sdf::Model *model22 = model12->ModelByIndex(0);
+  ASSERT_NE(nullptr, model21);
+  ASSERT_NE(nullptr, model22);
+  EXPECT_EQ(model21->Element()->ToString(""), model22->Element()->ToString(""));
+
+  // //model[@name=M1]/model[@name=M2]/link[@name=L1]
+  const sdf::Link *model21link1 = model21->LinkByIndex(0);
+  const sdf::Link *model22link2 = model22->LinkByIndex(0);
+  ASSERT_NE(nullptr, model21link1);
+  ASSERT_NE(nullptr, model22link2);
+  EXPECT_EQ(model21link1->Element()->ToString(""),
+            model22link2->Element()->ToString(""));
+
+  // check custom attributes
+  sdf::ParamPtr param1 =
+      model21link1->Element()->GetAttribute("mysim:custom_attr_str");
+  sdf::ParamPtr param2 =
+      model22link2->Element()->GetAttribute("mysim:custom_attr_str");
+  ASSERT_NE(nullptr, param1);
+  ASSERT_NE(nullptr, param2);
+  EXPECT_EQ("B", param1->GetAsString());
+  EXPECT_EQ("B", param2->GetAsString());
+
+  // //model[@name=M1]/model[@name=M2]/link[@name=L1]/mysim:transmission
+  sdf::ElementPtr customElem1 =
+      model21link1->Element()->FindElement("mysim:transmission");
+  sdf::ElementPtr customElem2 =
+      model22link2->Element()->FindElement("mysim:transmission");
+  ASSERT_NE(nullptr, customElem1);
+  ASSERT_NE(nullptr, customElem2);
+
+  const std::string customElemStr =
+R"(<mysim:transmission name='simple_trans'>
+  <mysim:type>transmission_interface/SimpleTransmission</mysim:type>
+  <mysim:joint name='J1'>
+    <mysim:hardwareInterface>EffortJointInterface</mysim:hardwareInterface>
+  </mysim:joint>
+</mysim:transmission>
+)";
+  EXPECT_EQ(customElemStr, customElem1->ToString(""));
+  EXPECT_EQ(customElemStr, customElem2->ToString(""));
+}
+
+/////////////////////////////////////////////////
+TEST(SDFParser, ReloadNestedIncludedCustomElements)
+{
+  const std::string modelPath = sdf::testing::TestFile("integration", "model");
+
+  sdf::setFindCallback(
+    [&](const std::string &_file)
+    {
+      return sdf::filesystem::append(modelPath, _file);
+    });
+
+  const std::string sdfStr =
+R"(<sdf version='1.7'>
+  <world name='default'>
+    <model name='test'>
+      <include>
+        <uri>model_with_custom_elements</uri>
+      </include>
+    </model>
+  </world>
+</sdf>
+)";
+
+  sdf::Root root1;
+  sdf::Errors errors = root1.LoadSdfString(sdfStr);
+  EXPECT_TRUE(errors.empty());
+
+  for (auto &e : errors)
+    std::cout << e.Message() << std::endl;
+
+  sdf::Root root2;
+  errors = root2.LoadSdfString(root1.Element()->ToString(""));
+  EXPECT_TRUE(errors.empty());
+
+  // check that root1 and root2 equal
+  EXPECT_EQ(root1.Element()->ToString(""), root2.Element()->ToString(""));
+
+  const sdf::World *world1 = root1.WorldByIndex(0);
+  const sdf::World *world2 = root2.WorldByIndex(0);
+  ASSERT_NE(nullptr, world1);
+  ASSERT_NE(nullptr, world2);
+
+  // //model[@name=test]
+  const sdf::Model *model11 = world1->ModelByIndex(0);
+  const sdf::Model *model12 = world2->ModelByIndex(0);
+  ASSERT_NE(nullptr, model11);
+  ASSERT_NE(nullptr, model12);
+  EXPECT_EQ(model11->Element()->ToString(""), model12->Element()->ToString(""));
+
+  // //model[@name=test]/frame[@name=M1::__model__]
+  const sdf::Frame *frame1 = model11->FrameByIndex(0);
+  const sdf::Frame *frame2 = model12->FrameByIndex(0);
+  ASSERT_NE(nullptr, frame1);
+  ASSERT_NE(nullptr, frame2);
+  EXPECT_EQ(frame1->Element()->ToString(""), frame2->Element()->ToString(""));
+
+  // //model[@name=test]/link[@name=M1::L1]
+  const sdf::Link *model11link1 = model11->LinkByIndex(0);
+  const sdf::Link *model12link2 = model12->LinkByIndex(0);
+  ASSERT_NE(nullptr, model11link1);
+  ASSERT_NE(nullptr, model12link2);
+
+  const std::string linkCustomAttrStr =
+R"(<link name='M1::L1' mysim:custom_attr_str='A' mysim:custom_attr_int='5'>
+  <pose relative_to='M1::__model__'>0 0 0 0 -0 0</pose>
+</link>
+)";
+  EXPECT_EQ(linkCustomAttrStr, model11link1->Element()->ToString(""));
+  EXPECT_EQ(linkCustomAttrStr, model12link2->Element()->ToString(""));
+
+  // //model[@name=test]/model[@name=M1::M2]
+  const sdf::Model *model21 = model11->ModelByIndex(0);
+  const sdf::Model *model22 = model12->ModelByIndex(0);
+  ASSERT_NE(nullptr, model21);
+  ASSERT_NE(nullptr, model22);
+  EXPECT_EQ(model21->Element()->ToString(""), model22->Element()->ToString(""));
+
+  // //model[@name=test]/model[@name=M1::M2]/link[@name=M1::L1]
+  const sdf::Link *model21link1 = model21->LinkByIndex(0);
+  const sdf::Link *model22link2 = model22->LinkByIndex(0);
+  ASSERT_NE(nullptr, model21link1);
+  ASSERT_NE(nullptr, model22link2);
+  EXPECT_EQ(model21link1->Element()->ToString(""),
+            model22link2->Element()->ToString(""));
+
+  // check custom attributes
+  sdf::ParamPtr param1 =
+      model21link1->Element()->GetAttribute("mysim:custom_attr_str");
+  sdf::ParamPtr param2 =
+      model22link2->Element()->GetAttribute("mysim:custom_attr_str");
+  ASSERT_NE(nullptr, param1);
+  ASSERT_NE(nullptr, param2);
+  EXPECT_EQ("B", param1->GetAsString());
+  EXPECT_EQ("B", param2->GetAsString());
+
+  // //model[@name=test]/model[@name=M1::M2]/link[@name=M1::L1]
+  //  /mysim:transmission
+  sdf::ElementPtr customElem1 =
+      model21link1->Element()->FindElement("mysim:transmission");
+  sdf::ElementPtr customElem2 =
+      model22link2->Element()->FindElement("mysim:transmission");
+  ASSERT_NE(nullptr, customElem1);
+  ASSERT_NE(nullptr, customElem2);
+
+  const std::string customElemStr =
+R"(<mysim:transmission name='simple_trans'>
+  <mysim:type>transmission_interface/SimpleTransmission</mysim:type>
+  <mysim:joint name='M1::J1'>
+    <mysim:hardwareInterface>EffortJointInterface</mysim:hardwareInterface>
+  </mysim:joint>
+</mysim:transmission>
+)";
+  EXPECT_EQ(customElemStr, customElem1->ToString(""));
+  EXPECT_EQ(customElemStr, customElem2->ToString(""));
+}