diff --git a/pkgs/development/libraries/hpp-fcl/default.nix b/pkgs/development/libraries/hpp-fcl/default.nix
new file mode 100644
index 000000000000..20895529f2a4
--- /dev/null
+++ b/pkgs/development/libraries/hpp-fcl/default.nix
@@ -0,0 +1,72 @@
+{ lib
+, stdenv
+, fetchFromGitHub
+, fetchpatch
+, cmake
+, boost
+, eigen
+, assimp
+, octomap
+, qhull
+, pythonSupport ? false
+, python3Packages
+}:
+
+stdenv.mkDerivation (finalAttrs: {
+  pname = "hpp-fcl";
+  version = "2.3.3";
+
+  src = fetchFromGitHub {
+    owner = "humanoid-path-planner";
+    repo = finalAttrs.pname;
+    rev = "v${finalAttrs.version}";
+    fetchSubmodules = true;
+    hash = "sha256-7MXQ5+S/lvaTBVGY2gTJ1nUegtf9cp7p0JLJ4oPJAUY=";
+  };
+
+  patches = [
+    # Fix unittest where nix env set `boost::archive::tmpdir()` to `/build` and trigger a path concatenation bug.
+    (fetchpatch {
+      name = "tests-use-boost-filesystem.patch";
+      url = "https://github.com/humanoid-path-planner/hpp-fcl/commit/7e8fde64a5d2c2412325f6cb5d78623bf2409176.patch";
+      hash = "sha256-YjESkj8SqYiyrJuXIa5mSnHIph/D04J10poTDcYgs2c=";
+    })
+  ];
+
+  strictDeps = true;
+
+  nativeBuildInputs = [
+    cmake
+  ];
+
+  propagatedBuildInputs = [
+    assimp
+    qhull
+    octomap
+  ] ++ lib.optionals (!pythonSupport) [
+    boost
+    eigen
+  ] ++ lib.optionals pythonSupport [
+    python3Packages.boost
+    python3Packages.eigenpy
+  ];
+
+  cmakeFlags = [
+    "-DHPP_FCL_HAS_QHULL=ON"
+  ] ++ lib.optionals (!pythonSupport) [
+    "-DBUILD_PYTHON_INTERFACE=OFF"
+  ];
+
+  doCheck = true;
+  pythonImportsCheck = lib.optionals (!pythonSupport) [
+    "hppfcl"
+  ];
+
+  meta = with lib; {
+    description = "An extension of the Flexible Collision Library";
+    homepage = "https://github.com/humanoid-path-planner/hpp-fcl";
+    license = licenses.bsd3;
+    maintainers = with maintainers; [ nim65s ];
+    platforms = platforms.unix;
+  };
+})
diff --git a/pkgs/top-level/all-packages.nix b/pkgs/top-level/all-packages.nix
index 6db14e7aa9cb..6f4b9cd88352 100644
--- a/pkgs/top-level/all-packages.nix
+++ b/pkgs/top-level/all-packages.nix
@@ -21123,6 +21123,8 @@ with pkgs;
 
   hound = callPackage ../development/tools/misc/hound { };
 
+  hpp-fcl = callPackage ../development/libraries/hpp-fcl { };
+
   hpx = callPackage ../development/libraries/hpx {
     boost = boost17x;
     asio = asio.override { boost = boost17x; };
diff --git a/pkgs/top-level/python-packages.nix b/pkgs/top-level/python-packages.nix
index 718d366e58a3..4cab148b9505 100644
--- a/pkgs/top-level/python-packages.nix
+++ b/pkgs/top-level/python-packages.nix
@@ -4627,6 +4627,11 @@ self: super: with self; {
 
   hpccm = callPackage ../development/python-modules/hpccm { };
 
+  hpp-fcl = toPythonModule (pkgs.hpp-fcl.override {
+    pythonSupport = true;
+    python3Packages = self;
+  });
+
   hs-dbus-signature = callPackage ../development/python-modules/hs-dbus-signature { };
 
   hsaudiotag3k = callPackage ../development/python-modules/hsaudiotag3k { };