It is the first time that Messi has played a competitive club match for a team other than Barcelona.
He arrived at PSG earlier in August after Barcelona were forced to release him for financial reasons.
Previously in the game, Kylian Mbappe had given PSG a first-half lead, with the forward netting despite rumours linking him with a move to Real Madrid in the days leading up to the game.
He had netted a second moments before Messi came on, making it 2-0 for the visitors.
The much-anticipated moment came just one minute after Mbappe’s second goal, as Messi came on for his former Barca team-mate Neymar.
Messi’s performance was relatively low key as there were no major moments in favour of his side following his arrival.
He took up a position as a No.10 playing behind Mbappe and linked well with the centre-forward.
Speaking to Amazon Prime after the game, PSG head coach Mauricio Pochettino said of Messi: “He’s been good. I’m very happy to see him make his debut. It was important for him. He is far from his best form, but he is training very well.
“He will be better after the [international] break. We expect the best from him.”