diff --git a/pkgs/development/python-modules/pykdl/default.nix b/pkgs/development/python-modules/pykdl/default.nix
new file mode 100644
index 000000000000..5fc38cd5dd4d
--- /dev/null
+++ b/pkgs/development/python-modules/pykdl/default.nix
@@ -0,0 +1,20 @@
+{ lib, stdenv, toPythonModule, cmake, orocos-kdl, python, sip }:
+
+toPythonModule (stdenv.mkDerivation {
+  pname = "pykdl";
+  inherit (orocos-kdl) version src;
+
+  sourceRoot = "source/python_orocos_kdl";
+
+  nativeBuildInputs = [ cmake ];
+  buildInputs = [ orocos-kdl ];
+  propagatedBuildInputs = [ python sip ];
+
+  meta = with lib; {
+    description = "Kinematics and Dynamics Library (Python bindings)";
+    homepage = "https://www.orocos.org/kdl.html";
+    license = licenses.lgpl21Only;
+    maintainers = with maintainers; [ lopsided98 ];
+    platforms = platforms.all;
+  };
+})
diff --git a/pkgs/top-level/python-packages.nix b/pkgs/top-level/python-packages.nix
index c34048abb59e..7e64e854a4a8 100644
--- a/pkgs/top-level/python-packages.nix
+++ b/pkgs/top-level/python-packages.nix
@@ -5013,6 +5013,8 @@ in {
 
   pyjwt = callPackage ../development/python-modules/pyjwt { };
 
+  pykdl = callPackage ../development/python-modules/pykdl { };
+
   pykdtree = callPackage ../development/python-modules/pykdtree { inherit (pkgs.llvmPackages) openmp; };
 
   pykeepass = callPackage ../development/python-modules/pykeepass { };