diff --git a/pkgs/development/python-modules/cxxheaderparser/default.nix b/pkgs/development/python-modules/cxxheaderparser/default.nix
new file mode 100644
index 000000000000..b35cc118359c
--- /dev/null
+++ b/pkgs/development/python-modules/cxxheaderparser/default.nix
@@ -0,0 +1,39 @@
+{
+  buildPythonPackage,
+  fetchFromGitHub,
+  lib,
+  pcpp,
+  pytestCheckHook,
+  setuptools,
+}:
+
+buildPythonPackage rec {
+  pname = "cxxheaderparser";
+  version = "1.3.3";
+  pyproject = true;
+
+  src = fetchFromGitHub {
+    owner = "robotpy";
+    repo = "cxxheaderparser";
+    rev = version;
+    hash = "sha256-dc+MsSJFeRho6DG21QQZSAq4PmRZl7OlWhIQNisicZo=";
+  };
+
+  postPatch = ''
+    # version.py is generated based on latest git tag
+    echo "__version__ = '${version}'" > cxxheaderparser/version.py
+  '';
+
+  build-system = [ setuptools ];
+
+  checkInputs = [ pcpp ];
+  nativeCheckInputs = [ pytestCheckHook ];
+  pythonImportsCheck = [ "cxxheaderparser" ];
+
+  meta = {
+    description = "Modern pure python C++ header parser";
+    homepage = "https://github.com/robotpy/cxxheaderparser";
+    license = lib.licenses.bsd3;
+    maintainers = with lib.maintainers; [ nim65s ];
+  };
+}
diff --git a/pkgs/top-level/python-packages.nix b/pkgs/top-level/python-packages.nix
index d28a3dcb4c18..814d2b1bf33d 100644
--- a/pkgs/top-level/python-packages.nix
+++ b/pkgs/top-level/python-packages.nix
@@ -2741,6 +2741,8 @@ self: super: with self; {
 
   cxxfilt = callPackage ../development/python-modules/cxxfilt { };
 
+  cxxheaderparser = callPackage ../development/python-modules/cxxheaderparser { };
+
   cycler = callPackage ../development/python-modules/cycler { };
 
   cyclonedx-python-lib = callPackage ../development/python-modules/cyclonedx-python-lib { };