Magnetic skyrmions are topologically stable swirling spin textures with particle-like char- acter, and have been intensively studied as a candidate of high-density information bit. While magnetic skyrmions were originally discovered in noncentrosymmetric systems with Dzyaloshinskii-Moriya interaction, recently a nanometric skyrmion lattice has also been reported for centrosymmetric rare-earth compounds, such as Gd2PdSi3 and GdRu2Si2. For the latter systems, a distinct skyrmion formation mechanism mediated by itinerant electrons has been proposed, and the search of a simpler model system allowing for a better understanding of their intricate magnetic phase diagram is highly demanded. Here, we report the discovery of square and rhombic lattices of nanometric skyrmions in a centrosymmetric binary compound EuAl4, by performing small-angle neutron and resonant elastic X-ray scattering experiments.