diff --git a/pkgs/development/libraries/orocos-kdl/default.nix b/pkgs/development/libraries/orocos-kdl/default.nix
new file mode 100644
index 000000000000..094ee544649d
--- /dev/null
+++ b/pkgs/development/libraries/orocos-kdl/default.nix
@@ -0,0 +1,26 @@
+{ lib, stdenv, fetchFromGitHub, cmake, eigen }:
+
+stdenv.mkDerivation rec {
+  pname = "orocos-kdl";
+  version = "1.4.0";
+
+  src = fetchFromGitHub {
+    owner = "orocos";
+    repo = "orocos_kinematics_dynamics";
+    rev = "v${version}";
+    sha256 = "0qj56j231h0rnjbglakammxn2lwmhy5f2qa37v1f6pcn81dn13vv";
+  };
+
+  sourceRoot = "source/orocos_kdl";
+
+  nativeBuildInputs = [ cmake ];
+  buildInputs = [ eigen ];
+
+  meta = with lib; {
+    description = "Kinematics and Dynamics Library";
+    homepage = "https://www.orocos.org/kdl.html";
+    license = licenses.lgpl21Only;
+    maintainers = with maintainers; [ lopsided98 ];
+    platforms = platforms.all;
+  };
+}
diff --git a/pkgs/top-level/all-packages.nix b/pkgs/top-level/all-packages.nix
index 744970b2b229..f69cc670dc48 100644
--- a/pkgs/top-level/all-packages.nix
+++ b/pkgs/top-level/all-packages.nix
@@ -9558,6 +9558,8 @@ in
 
   orc = callPackage ../development/compilers/orc { };
 
+  orocos-kdl = callPackage ../development/libraries/orocos-kdl { };
+
   metaocaml_3_09 = callPackage ../development/compilers/ocaml/metaocaml-3.09.nix { };
 
   ber_metaocaml = callPackage ../development/compilers/ocaml/ber-metaocaml.nix { };