diff --git a/.github/workflows/nix.yml b/.github/workflows/nix.yml
new file mode 100644
index 0000000000..52b45d9f09
--- /dev/null
+++ b/.github/workflows/nix.yml
@@ -0,0 +1,19 @@
+name: "CI - Nix"
+
+on:
+  push:
+
+jobs:
+  nix:
+    runs-on: "${{ matrix.os }}-latest"
+    strategy:
+      matrix:
+        os: [ubuntu, macos]
+    steps:
+      - uses: actions/checkout@v4
+      - uses: cachix/install-nix-action@v27
+      - uses: cachix/cachix-action@v15
+        with:
+          name: gepetto
+          authToken: '${{ secrets.CACHIX_AUTH_TOKEN }}'
+      - run: nix build -L
diff --git a/flake.lock b/flake.lock
new file mode 100644
index 0000000000..5a07345891
--- /dev/null
+++ b/flake.lock
@@ -0,0 +1,57 @@
+{
+  "nodes": {
+    "flake-parts": {
+      "inputs": {
+        "nixpkgs-lib": "nixpkgs-lib"
+      },
+      "locked": {
+        "lastModified": 1722555600,
+        "narHash": "sha256-XOQkdLafnb/p9ij77byFQjDf5m5QYl9b2REiVClC+x4=",
+        "owner": "hercules-ci",
+        "repo": "flake-parts",
+        "rev": "8471fe90ad337a8074e957b69ca4d0089218391d",
+        "type": "github"
+      },
+      "original": {
+        "owner": "hercules-ci",
+        "repo": "flake-parts",
+        "type": "github"
+      }
+    },
+    "nixpkgs": {
+      "locked": {
+        "lastModified": 1724857063,
+        "narHash": "sha256-Hr4qs3NQLP6JDUPpItJOztUzsr3IjC9WAWM47ob03GU=",
+        "owner": "gepetto",
+        "repo": "nixpkgs",
+        "rev": "b953c287a7ed9e5d33917ec4c838e1b5de9713e0",
+        "type": "github"
+      },
+      "original": {
+        "owner": "gepetto",
+        "repo": "nixpkgs",
+        "type": "github"
+      }
+    },
+    "nixpkgs-lib": {
+      "locked": {
+        "lastModified": 1722555339,
+        "narHash": "sha256-uFf2QeW7eAHlYXuDktm9c25OxOyCoUOQmh5SZ9amE5Q=",
+        "type": "tarball",
+        "url": "https://github.com/NixOS/nixpkgs/archive/a5d394176e64ab29c852d03346c1fc9b0b7d33eb.tar.gz"
+      },
+      "original": {
+        "type": "tarball",
+        "url": "https://github.com/NixOS/nixpkgs/archive/a5d394176e64ab29c852d03346c1fc9b0b7d33eb.tar.gz"
+      }
+    },
+    "root": {
+      "inputs": {
+        "flake-parts": "flake-parts",
+        "nixpkgs": "nixpkgs"
+      }
+    }
+  },
+  "root": "root",
+  "version": 7
+}
diff --git a/flake.nix b/flake.nix
new file mode 100644
index 0000000000..215e135081
--- /dev/null
+++ b/flake.nix
@@ -0,0 +1,47 @@
+{
+  description = "Fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives.";
+
+  inputs = {
+    flake-parts.url = "github:hercules-ci/flake-parts";
+    #nixpkgs.url = "github:NixOS/nixpkgs/nixos-unstable";
+    # use gepetto fork until https://github.com/NixOS/nixpkgs/pull/337942
+    nixpkgs.url = "github:gepetto/nixpkgs";
+  };
+
+  outputs =
+    inputs:
+    inputs.flake-parts.lib.mkFlake { inherit inputs; } {
+      systems = inputs.nixpkgs.lib.systems.flakeExposed;
+      perSystem =
+        { pkgs, self', ... }:
+        {
+          apps.default = {
+            type = "app";
+            program = pkgs.python3.withPackages (_: [ self'.packages.default ]);
+          };
+          devShells.default = pkgs.mkShell { inputsFrom = [ self'.packages.default ]; };
+          packages = {
+            default = self'.packages.pinocchio;
+            pinocchio = pkgs.python3Packages.pinocchio.overrideAttrs (_: {
+              src = pkgs.lib.fileset.toSource {
+                root = ./.;
+                fileset = pkgs.lib.fileset.unions [
+                  ./benchmark
+                  ./bindings
+                  ./CMakeLists.txt
+                  ./doc
+                  ./examples
+                  ./include
+                  ./models
+                  ./package.xml
+                  ./sources.cmake
+                  ./src
+                  ./unittest
+                  ./utils
+                ];
+              };
+            });
+          };
+        };
+    };
+}