diff --git a/pkgs/by-name/os/osqp-eigen/package.nix b/pkgs/by-name/os/osqp-eigen/package.nix
new file mode 100644
index 000000000000..935bb0bfa659
--- /dev/null
+++ b/pkgs/by-name/os/osqp-eigen/package.nix
@@ -0,0 +1,44 @@
+{
+  catch2,
+  cmake,
+  eigen,
+  fetchFromGitHub,
+  lib,
+  osqp,
+  stdenv,
+  valgrind,
+}:
+
+stdenv.mkDerivation (finalAttrs: {
+  pname = "osqp-eigen";
+  version = "0.8.1";
+
+  src = fetchFromGitHub {
+    owner = "robotology";
+    repo = "osqp-eigen";
+    rev = "v${finalAttrs.version}";
+    hash = "sha256-mN9oU+qXm+Kob8M4rtxv4qNSbXlFCqpN+s8dHedU8Mo=";
+  };
+
+  cmakeFlags = [
+    (lib.cmakeBool "BUILD_TESTING" true)
+    (lib.cmakeBool "OSQPEIGEN_RUN_Valgrind_tests" stdenv.isLinux)
+  ];
+
+  nativeBuildInputs = [ cmake ];
+  propagatedBuildInputs = [
+    eigen
+    osqp
+  ];
+  checkInputs = [ catch2 ];
+  nativeCheckInputs = lib.optional stdenv.isLinux valgrind;
+
+  doCheck = true;
+
+  meta = {
+    description = "Simple Eigen-C++ wrapper for OSQP library";
+    homepage = "https://github.com/robotology/osqp-eigen";
+    license = lib.licenses.bsd3;
+    maintainers = with lib.maintainers; [ nim65s ];
+  };
+})