How get message Visibility Timeout value in Lambda?

Usually you can get the message visibility timeout when you make a call to get_messages, however, when invoked with Lambda, the Lambda service makes the call to get_messages, and it seems it does not ask for this attribute.

You could make a call to get_queue_attributes to the get the defines visibility timeout on the queue, but remember that you can override this value for individual messages when your message producer sends the messages to the queue.