Are you properly calling has_attached_file in the model itself?
I had ruby (1.9.3), Rails (4.0.1), paperclip (3.5.2) and rails_admin (0.5.0) working without error. Then I created a new model. It had all the usual paperclip columns and should have worked. But I got that same error message.
My problem (duh) was that I neglected to configure paperclip in the model itself, but had the paperclip columns in my schema. I wasn't calling has_attached_file ... in my model.
has_attached_file :img...
I loosely recall that rails_admin sniffs certain paperclip smelling columns and acts on it. So I had the paperclip like columns, which rails_admin detected, but never called has_attaached_file resulting in the error. And that error makes sense, there were indeed no "attachment_definitions" to speak of!