diff --git a/pkgs/development/python-modules/numpy-quaternion/default.nix b/pkgs/development/python-modules/numpy-quaternion/default.nix
new file mode 100644
index 000000000000..639875be1c4c
--- /dev/null
+++ b/pkgs/development/python-modules/numpy-quaternion/default.nix
@@ -0,0 +1,56 @@
+{
+  lib,
+  buildPythonPackage,
+  fetchFromGitHub,
+
+  # build-system
+  hatchling,
+  numpy,
+  setuptools,
+
+  # dependencies
+  scipy,
+
+  # tests
+  pytest-cov-stub,
+  pytestCheckHook,
+}:
+
+buildPythonPackage (finalAttrs: {
+  pname = "numpy-quaternion";
+  version = "2024.0.13";
+  pyproject = true;
+  __structuredAttrs = true;
+
+  src = fetchFromGitHub {
+    owner = "moble";
+    repo = "quaternion";
+    tag = "v${finalAttrs.version}";
+    hash = "sha256-W35R+S6yzcKTpKtemjiLzH9v5owduUtos9DyoY28qbc=";
+  };
+
+  build-system = [
+    hatchling
+    numpy
+    setuptools
+  ];
+
+  dependencies = [
+    numpy
+    scipy
+  ];
+
+  pythonImportsCheck = [ "quaternion" ];
+
+  nativeCheckInputs = [
+    pytest-cov-stub
+    pytestCheckHook
+  ];
+
+  meta = {
+    description = "Built-in support for quaternions in numpy";
+    homepage = "https://github.com/moble/quaternion";
+    license = lib.licenses.mit;
+    maintainers = with lib.maintainers; [ GaetanLepage ];
+  };
+})
diff --git a/pkgs/top-level/python-packages.nix b/pkgs/top-level/python-packages.nix
index d1f5db3f99c5..03ef1a894184 100644
--- a/pkgs/top-level/python-packages.nix
+++ b/pkgs/top-level/python-packages.nix
@@ -11423,6 +11423,8 @@ self: super: with self; {
 
   numpy-groupies = callPackage ../development/python-modules/numpy-groupies { };
 
+  numpy-quaternion = callPackage ../development/python-modules/numpy-quaternion { };
+
   numpy-stl = callPackage ../development/python-modules/numpy-stl { };
 
   numpy-typing-compat = callPackage ../development/python-modules/numpy-typing-compat { };