diff --git a/changelog/5197.bugfix.rst b/changelog/5197.bugfix.rst
new file mode 100644
index 000000000000..73ba13397798
--- /dev/null
+++ b/changelog/5197.bugfix.rst
@@ -0,0 +1,4 @@
+Fixed incompatibility of Oracle with the :ref:`sql-tracker-store`, by using a ``Sequence``
+for the primary key columns. This does not change anything for SQL databases other than Oracle.
+If you are using Oracle, please create a sequence with the instructions in the docs
+:ref:`oracle-configuration`.
diff --git a/changelog/5197.doc.rst b/changelog/5197.doc.rst
new file mode 100644
index 000000000000..70e27737f43e
--- /dev/null
+++ b/changelog/5197.doc.rst
@@ -0,0 +1 @@
+Added section on setting up the SQLTrackerStore with Oracle
diff --git a/docs/api/tracker-stores.rst b/docs/api/tracker-stores.rst
index cd3f400eb40b..51a9c1f1238c 100644
--- a/docs/api/tracker-stores.rst
+++ b/docs/api/tracker-stores.rst
@@ -27,6 +27,8 @@ InMemoryTrackerStore (default)
 :Configuration:
     To use the `InMemoryTrackerStore` no configuration is needed.
 
+.. _sql-tracker-store:
+
 SQLTrackerStore
 ~~~~~~~~~~~~~~~
 
@@ -70,6 +72,59 @@ SQLTrackerStore
     - ``login_db`` (default: ``None``): Alternative database name to which initially  connect, and create the database specified by `db` (PostgreSQL only)
     - ``query`` (default: ``None``): Dictionary of options to be passed to the dialect and/or the DBAPI upon connect
 
+
+:Officially Compatible Databases:
+    - PostgreSQL
+    - Oracle > 11.0
+    - SQLite
+
+.. _oracle-configuration:
+
+:Oracle Configuration:
+      To use the SQLTrackerStore with Oracle, there are a few additional steps.
+      First, create a database ``tracker`` in your Oracle database and create a user with access to it.
+      Create a sequence in the database with the following command, where username is the user you created
+      (read more about creating sequences `here <https://docs.oracle.com/cd/B28359_01/server.111/b28310/views002.htm#ADMIN11794>`__):
+
+      .. code-block:: sql
+
+          CREATE SEQUENCE username.events_seq;
+
+      Next you have to extend the Rasa Open Source image to include the necessary drivers and clients.
+      First download the Oracle Instant Client from `here <https://www.oracle.com/database/technologies/instant-client/linux-x86-64-downloads.html>`__,
+      rename it to ``oracle.rpm`` and store it in the directory from where you'll be building the docker image.
+      Copy the following into a file called ``Dockerfile``:
+
+      .. code-block:: bash
+
+          FROM rasa/rasa:|version|-full
+          # Switch to root user to install packages
+          USER root
+          RUN apt-get update -qq \
+          && apt-get install -y --no-install-recommends \
+          alien \
+          libaio1 \
+          && apt-get clean \
+          && rm -rf /var/lib/apt/lists/* /tmp/* /var/tmp/*
+          # Copy in oracle instaclient
+          # https://www.oracle.com/database/technologies/instant-client/linux-x86-64-downloads.html
+          COPY oracle.rpm oracle.rpm
+          # Install the Python wrapper library for the Oracle drivers
+          RUN pip install cx-Oracle
+          # Install Oracle client libraries
+          RUN alien -i oracle.rpm
+          USER 1001
+
+      Then build the docker image:
+
+      .. code-block:: bash
+
+          docker build . -t rasa-oracle:|version|-oracle-full
+
+      Now you can configure the tracker store in the ``endpoints.yml`` as described above,
+      and start the container. The ``dialect`` parameter with this setup will be ``oracle+cx_oracle``.
+      Read more about :ref:`deploying-your-rasa-assistant`.
+
 RedisTrackerStore
 ~~~~~~~~~~~~~~~~~~
 
diff --git a/rasa/core/tracker_store.py b/rasa/core/tracker_store.py
index 8ea2c4479e48..920064e3f8a4 100644
--- a/rasa/core/tracker_store.py
+++ b/rasa/core/tracker_store.py
@@ -21,6 +21,7 @@
 from rasa.core.trackers import ActionExecuted, DialogueStateTracker, EventVerbosity
 from rasa.utils.common import class_from_module_path, raise_warning, arguments_of
 from rasa.utils.endpoints import EndpointConfig
+from sqlalchemy import Sequence
 
 if typing.TYPE_CHECKING:
     from sqlalchemy.engine.url import URL
@@ -521,6 +522,24 @@ def keys(self) -> Iterable[Text]:
         return [c["sender_id"] for c in self.conversations.find()]
 
 
+def _create_sequence(table_name: Text) -> Sequence:
+    """Creates a sequence object for a specific table name.
+
+    If using Oracle you will need to create a sequence in your database, as described here:
+    https://rasa.com/docs/rasa/api/tracker-stores/#sqltrackerstore
+    Args:
+        table_name: The name of the table, which gets a Sequence assigned
+
+    Returns: A `Sequence` object
+    """
+
+    from sqlalchemy.ext.declarative import declarative_base
+
+    sequence_name = f"{table_name}_seq"
+    Base = declarative_base()
+    return Sequence(sequence_name, metadata=Base.metadata, optional=True)
+
+
 class SQLTrackerStore(TrackerStore):
     """Store which can save and retrieve trackers from an SQL database."""
 
@@ -535,7 +554,9 @@ class SQLEvent(Base):
 
         __tablename__ = "events"
 
-        id = Column(Integer, primary_key=True)
+        # `create_sequence` is needed to create a sequence for databases that
+        # don't autoincrement Integer primary keys (e.g. Oracle)
+        id = Column(Integer, _create_sequence(__tablename__), primary_key=True)
         sender_id = Column(String(255), nullable=False, index=True)
         type_name = Column(String(255), nullable=False)
         timestamp = Column(Float)