diff --git a/recipes/pinocchio/all/conandata.yml b/recipes/pinocchio/all/conandata.yml
new file mode 100644
index 0000000000000..b0d04097918ea
--- /dev/null
+++ b/recipes/pinocchio/all/conandata.yml
@@ -0,0 +1,4 @@
+sources:
+  "3.7.0":
+    url: "https://github.com/stack-of-tasks/pinocchio/releases/download/v3.7.0/pinocchio-3.7.0.tar.gz"
+    sha256: "c14c2ac9e5943af9acca9730c31d66c59b57a9407960d5b66d200f50b39a70a1"
diff --git a/recipes/pinocchio/all/conanfile.py b/recipes/pinocchio/all/conanfile.py
new file mode 100644
index 0000000000000..9615ba040d4bb
--- /dev/null
+++ b/recipes/pinocchio/all/conanfile.py
@@ -0,0 +1,97 @@
+import os
+
+from conan import ConanFile
+from conan.errors import ConanInvalidConfiguration
+from conan.tools.cmake import CMakeToolchain, CMake, cmake_layout, CMakeDeps
+from conan.tools.files import get, rmdir, copy
+
+required_conan_version = ">=2"
+
+class PinocchioConan(ConanFile):
+    name = "pinocchio"
+    package_type = "library"
+    license = ("BSD 2-Clause")
+    url = "https://github.com/conan-io/conan-center-index"
+    description = (
+        "Pinocchio instantiates the state-of-the-art Rigid Body Algorithms for poly-articulated "
+        "systems based on revisited Roy Featherstone's algorithms. Besides, Pinocchio provides "
+        "the analytical derivatives of the main Rigid-Body Algorithms, such as the Recursive "
+        "Newton-Euler Algorithm or the Articulated-Body Algorithm."
+        )
+    topics = (
+        "robotics", "kinematics", "dynamics", "automatic-differentiation",
+        "motion-planning", "ros", "rigid-body-dynamics", "analytical-derivatives",
+        )
+
+    settings = "os", "compiler", "build_type", "arch"
+    options = {
+        "shared": [True, False],
+        "fPIC": [True, False],
+        }
+    default_options = {
+        "shared": False,
+        "fPIC": True
+        }
+
+    implements = ["auto_shared_fpic"]
+
+    def layout(self):
+        cmake_layout(self, src_folder="src")
+
+    def requirements(self):
+        self.requires("eigen/3.4.0", transitive_headers=True)
+        self.requires("urdfdom_headers/1.1.1")
+        self.requires("urdfdom/4.0.0")
+        self.requires("boost/1.87.0", transitive_headers=True)
+
+    def build_requirements(self):
+        self.tool_requires("cmake/[>=3.22 <4]")
+
+    def validate(self):
+        if self.settings.compiler == "msvc":
+            raise ConanInvalidConfiguration("MSVC is not supported")
+
+    def source(self):
+        get(self, **self.conan_data["sources"][self.version], strip_root=True)
+
+    def generate(self):
+        deps = CMakeDeps(self)
+        deps.generate()
+        tc = CMakeToolchain(self)
+        # To enable building Python interfaces, it is necessary to either ensure the installation
+        # of dependencies using self.tool_requires("cpython/X.Y.Z") or implement support for working
+        # with a virtual environment (e.g., https://github.com/conan-io/conan/pull/11601)
+        tc.cache_variables["BUILD_PYTHON_INTERFACE"] = False
+        tc.cache_variables["BUILD_TESTING"] = False
+        tc.generate()
+
+    def build(self):
+        cmake = CMake(self)
+        cmake.configure()
+        cmake.build()
+
+    def package(self):
+        copy(self, "LICENSE*", src=self.source_folder, dst=os.path.join(self.package_folder, "licenses"))
+        cmake = CMake(self)
+        cmake.install()
+
+        rmdir(self, os.path.join(self.package_folder, "lib", "pkgconfig"))
+        rmdir(self, os.path.join(self.package_folder, "lib", "cmake"))
+        rmdir(self, os.path.join(self.package_folder, "share"))
+
+    def package_info(self):
+        self.cpp_info.set_property("cmake_file_name", "pinocchio")
+        self.cpp_info.set_property("cmake_target_name", "pinocchio::pinocchio")
+
+        self.cpp_info.components["pinocchio_headers"].includedirs = ["include"]
+        self.cpp_info.components["pinocchio_headers"].requires = ["eigen::eigen", "boost::boost"]
+
+        self.cpp_info.components["pinocchio_default"].libs = ["pinocchio_default"]
+        self.cpp_info.components["pinocchio_default"].requires = ["pinocchio_headers"]
+
+        self.cpp_info.components["pinocchio_visualizers"].libs = ["pinocchio_visualizers"]
+        self.cpp_info.components["pinocchio_visualizers"].requires = ["pinocchio_headers", "pinocchio_default"]
+
+        self.cpp_info.components["pinocchio_parsers"].libs = ["pinocchio_parsers"]
+        self.cpp_info.components["pinocchio_parsers"].requires = ["pinocchio_headers", "pinocchio_default", "boost::filesystem", "urdfdom::urdfdom", "urdfdom_headers::urdfdom_headers"]
+        self.cpp_info.components["pinocchio_parsers"].defines = ["PINOCCHIO_WITH_URDFDOM"]
diff --git a/recipes/pinocchio/all/test_package/CMakeLists.txt b/recipes/pinocchio/all/test_package/CMakeLists.txt
new file mode 100644
index 0000000000000..ef9f8d51137d9
--- /dev/null
+++ b/recipes/pinocchio/all/test_package/CMakeLists.txt
@@ -0,0 +1,8 @@
+cmake_minimum_required(VERSION 3.15)
+
+project(test_package CXX)
+
+find_package(pinocchio REQUIRED)
+
+add_executable(${PROJECT_NAME} src/test_package.cpp)
+target_link_libraries(${PROJECT_NAME} pinocchio::pinocchio)
diff --git a/recipes/pinocchio/all/test_package/conanfile.py b/recipes/pinocchio/all/test_package/conanfile.py
new file mode 100644
index 0000000000000..62733ce87ce6c
--- /dev/null
+++ b/recipes/pinocchio/all/test_package/conanfile.py
@@ -0,0 +1,26 @@
+import os
+
+from conan import ConanFile
+from conan.tools.cmake import CMake, cmake_layout
+from conan.tools.build import can_run
+
+
+class PinocchioTestConan(ConanFile):
+    settings = "os", "compiler", "build_type", "arch"
+    generators = "CMakeDeps", "CMakeToolchain"
+
+    def requirements(self):
+        self.requires(self.tested_reference_str)
+
+    def build(self):
+        cmake = CMake(self)
+        cmake.configure()
+        cmake.build()
+
+    def layout(self):
+        cmake_layout(self)
+
+    def test(self):
+        if can_run(self):
+            cmd = os.path.join(self.cpp.build.bindir, "test_package")
+            self.run(cmd, env="conanrun")
diff --git a/recipes/pinocchio/all/test_package/src/test_package.cpp b/recipes/pinocchio/all/test_package/src/test_package.cpp
new file mode 100644
index 0000000000000..51fdf55097205
--- /dev/null
+++ b/recipes/pinocchio/all/test_package/src/test_package.cpp
@@ -0,0 +1,10 @@
+#include <vector>
+#include <string>
+#include "pinocchio/utils/file-explorer.hpp"
+
+int main()
+{
+   std::vector<std::string> paths;
+   pinocchio::extractPathFromEnvVar("CONAN_PINOCCHIO_TEST_PACKAGE_UNUSED_VAR",
+                                    paths, ";");
+}
diff --git a/recipes/pinocchio/config.yml b/recipes/pinocchio/config.yml
new file mode 100644
index 0000000000000..20ddf579e6d44
--- /dev/null
+++ b/recipes/pinocchio/config.yml
@@ -0,0 +1,3 @@
+versions:
+  "3.7.0":
+    folder: all