diff --git a/go/cli/mcap/go.mod b/go/cli/mcap/go.mod
index 2d95ce2d49..27c6d66d06 100644
--- a/go/cli/mcap/go.mod
+++ b/go/cli/mcap/go.mod
@@ -7,7 +7,7 @@ require (
 	github.com/fatih/color v1.13.0
 	github.com/foxglove/mcap/go/mcap v0.4.0
 	github.com/foxglove/mcap/go/ros v0.0.0-20230114025807-456e6a6ca1be
-	github.com/klauspost/compress v1.15.15
+	github.com/klauspost/compress v1.16.7
 	github.com/mattn/go-sqlite3 v1.14.14
 	github.com/olekukonko/tablewriter v0.0.5
 	github.com/pierrec/lz4/v4 v4.1.17
diff --git a/go/cli/mcap/go.sum b/go/cli/mcap/go.sum
index cb3400f3fc..5508fe81ea 100644
--- a/go/cli/mcap/go.sum
+++ b/go/cli/mcap/go.sum
@@ -309,6 +309,8 @@ github.com/klauspost/compress v1.15.12 h1:YClS/PImqYbn+UILDnqxQCZ3RehC9N318SU3kE
 github.com/klauspost/compress v1.15.12/go.mod h1:QPwzmACJjUTFsnSHH934V6woptycfrDDJnH7hvFVbGM=
 github.com/klauspost/compress v1.15.15 h1:EF27CXIuDsYJ6mmvtBRlEuB2UVOqHG1tAXgZ7yIO+lw=
 github.com/klauspost/compress v1.15.15/go.mod h1:ZcK2JAFqKOpnBlxcLsJzYfrS9X1akm9fHZNnD9+Vo/4=
+github.com/klauspost/compress v1.16.7 h1:2mk3MPGNzKyxErAw8YaohYh69+pa4sIQSC0fPGCFR9I=
+github.com/klauspost/compress v1.16.7/go.mod h1:ntbaceVETuRiXiv4DpjP66DpAtAGkEQskQzEyD//IeE=
 github.com/konsorten/go-windows-terminal-sequences v1.0.1/go.mod h1:T0+1ngSBFLxvqU3pZ+m/2kptfBszLMUkC4ZK/EgS/cQ=
 github.com/kr/fs v0.1.0/go.mod h1:FFnZGqtBN9Gxj7eW1uZ42v5BccTP0vu6NEaFoC2HwRg=
 github.com/kr/logfmt v0.0.0-20140226030751-b84e30acd515/go.mod h1:+0opPa2QZZtGFBFZlji/RkVcI2GknAs/DXo4wKdlNEc=
diff --git a/go/mcap/indexed_message_iterator.go b/go/mcap/indexed_message_iterator.go
index 86cabb9188..ef7ba4b6fa 100644
--- a/go/mcap/indexed_message_iterator.go
+++ b/go/mcap/indexed_message_iterator.go
@@ -11,6 +11,10 @@ import (
 	"github.com/pierrec/lz4/v4"
 )
 
+const (
+	chunkBufferGrowthMultiple = 1.2
+)
+
 // indexedMessageIterator is an iterator over an indexed mcap read seeker (as
 // seeking is required). It makes reads in alternation from the index data
 // section, the message index at the end of a chunk, and the chunk's contents.
@@ -34,6 +38,8 @@ type indexedMessageIterator struct {
 	zstdDecoder           *zstd.Decoder
 	lz4Reader             *lz4.Reader
 	hasReadSummarySection bool
+
+	compressedChunkAndMessageIndex []byte
 }
 
 // parseIndexSection parses the index section of the file and populates the
@@ -147,12 +153,17 @@ func (it *indexedMessageIterator) loadChunk(chunkIndex *ChunkIndex) error {
 	if err != nil {
 		return err
 	}
-	chunk := make([]byte, chunkIndex.ChunkLength+chunkIndex.MessageIndexLength)
-	_, err = io.ReadFull(it.rs, chunk)
+
+	compressedChunkLength := chunkIndex.ChunkLength + chunkIndex.MessageIndexLength
+	if len(it.compressedChunkAndMessageIndex) < int(compressedChunkLength) {
+		newSize := int(float64(compressedChunkLength) * chunkBufferGrowthMultiple)
+		it.compressedChunkAndMessageIndex = make([]byte, newSize)
+	}
+	_, err = io.ReadFull(it.rs, it.compressedChunkAndMessageIndex[:compressedChunkLength])
 	if err != nil {
 		return fmt.Errorf("failed to read chunk data: %w", err)
 	}
-	parsedChunk, err := ParseChunk(chunk[9:chunkIndex.ChunkLength])
+	parsedChunk, err := ParseChunk(it.compressedChunkAndMessageIndex[9:chunkIndex.ChunkLength])
 	if err != nil {
 		return fmt.Errorf("failed to parse chunk: %w", err)
 	}
@@ -162,18 +173,16 @@ func (it *indexedMessageIterator) loadChunk(chunkIndex *ChunkIndex) error {
 	case CompressionNone:
 		chunkData = parsedChunk.Records
 	case CompressionZSTD:
-		var err error
 		if it.zstdDecoder == nil {
-			it.zstdDecoder, err = zstd.NewReader(bytes.NewReader(parsedChunk.Records))
-		} else {
-			err = it.zstdDecoder.Reset(bytes.NewReader(parsedChunk.Records))
-		}
-		if err != nil {
-			return fmt.Errorf("failed to read zstd chunk: %w", err)
+			it.zstdDecoder, err = zstd.NewReader(nil)
+			if err != nil {
+				return fmt.Errorf("failed to instantiate zstd decoder: %w", err)
+			}
 		}
-		chunkData, err = io.ReadAll(it.zstdDecoder)
+		chunkData = make([]byte, 0, parsedChunk.UncompressedSize)
+		chunkData, err = it.zstdDecoder.DecodeAll(parsedChunk.Records, chunkData)
 		if err != nil {
-			return fmt.Errorf("failed to decompress zstd chunk: %w", err)
+			return fmt.Errorf("failed to decode chunk data: %w", err)
 		}
 	case CompressionLZ4:
 		if it.lz4Reader == nil {
@@ -181,7 +190,8 @@ func (it *indexedMessageIterator) loadChunk(chunkIndex *ChunkIndex) error {
 		} else {
 			it.lz4Reader.Reset(bytes.NewReader(parsedChunk.Records))
 		}
-		chunkData, err = io.ReadAll(it.lz4Reader)
+		chunkData = make([]byte, parsedChunk.UncompressedSize)
+		_, err = io.ReadFull(it.lz4Reader, chunkData)
 		if err != nil {
 			return fmt.Errorf("failed to decompress lz4 chunk: %w", err)
 		}
@@ -189,7 +199,7 @@ func (it *indexedMessageIterator) loadChunk(chunkIndex *ChunkIndex) error {
 		return fmt.Errorf("unsupported compression %s", parsedChunk.Compression)
 	}
 	// use the message index to find the messages we want from the chunk
-	messageIndexSection := chunk[chunkIndex.ChunkLength:]
+	messageIndexSection := it.compressedChunkAndMessageIndex[chunkIndex.ChunkLength:compressedChunkLength]
 	var recordLen uint64
 	offset := 0
 	for offset < len(messageIndexSection) {