diff --git a/.github/workflows/matlab.yml b/.github/workflows/matlab.yml
new file mode 100644
index 0000000..e1e79d5
--- /dev/null
+++ b/.github/workflows/matlab.yml
@@ -0,0 +1,111 @@
+name: MATLAB Tests CI
+
+on:
+  push:
+    branches: [ main ]
+  pull_request:
+    branches: [ main ]
+  workflow_dispatch:
+  schedule:
+  # * is a special character in YAML so you have to quote this string
+  # Execute a "nightly" build at 2 AM UTC 
+  - cron:  '0 2 * * *'
+
+jobs:
+  build-matlab-tests:    
+    name: '[matlab:${{ matrix.matlab_version }}:${{ matrix.os }}]'
+    runs-on: ${{ matrix.os }}
+    defaults:
+      run:
+        shell: bash -l {0}
+    strategy:
+      fail-fast: false
+      matrix:
+        build_type: [Release]
+        os: [ubuntu-20.04, windows-2019, macos-10.15]
+        matlab_version: [R2020a, R2020b, R2021a, latest]
+        exclude:
+          # R2020* is not supported on Windows on GitHub Actions
+          - os: windows-2019
+            matlab_version: R2020a
+            build_type: Release
+          - os: windows-2019
+            matlab_version: R2020b
+            build_type: Release
+
+    steps:
+    - uses: actions/checkout@v2
+
+    - uses: conda-incubator/setup-miniconda@v2
+      with:
+        miniforge-variant: Mambaforge
+        miniforge-version: latest
+        channels: conda-forge,robotology
+
+    - name: Setup MATLAB
+      uses: matlab-actions/setup-matlab@v1
+      with:
+        release: ${{ matrix.matlab_version }}
+
+    # workaround for https://github.com/robotology/robotology-superbuild/issues/64
+    - name: Do not use MATLAB's stdc++ to avoid incompatibilities with other libraries
+      if: contains(matrix.os, 'ubuntu')
+      run:
+          echo 'LD_PRELOAD=/usr/lib/x86_64-linux-gnu/libstdc++.so.6' >> $GITHUB_ENV
+
+    - name: Dependencies
+      run: |
+        # Workaround for https://github.com/conda-incubator/setup-miniconda/issues/186
+        conda config --remove channels defaults
+        # Compilation related dependencies 
+        mamba install cmake compilers make ninja pkg-config
+        # Actual dependencies
+        mamba install osqp
+        # Just a trick to make sure that the relevant installation path are on MATLABPATH
+        mamba install -c conda-forge -c robotology idyntree-matlab-bindings
+
+    # Additional dependencies useful only on Windows
+    - name: Dependencies [Conda/Windows]
+      if: contains(matrix.os, 'windows') 
+      run: |
+        # Additional dependencies only useful on Windows
+        # See https://github.com/robotology/robotology-superbuild/issues/477
+        mamba install vs2019_win-64
+
+    - name: Print used environment [Conda]
+      shell: bash -l {0}
+      run: |
+        mamba list
+        env
+
+    - name: Configure [Conda - Linux or  macOS]
+      if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu')
+      run: |
+        mkdir build
+        cd build
+        cmake -GNinja -DCMAKE_INSTALL_PREFIX=${CONDA_PREFIX} -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} ..
+
+    - name: Configure [Conda - Windows]
+      if: contains(matrix.os, 'windows')
+      run: |
+        mkdir build
+        cd build
+        cmake  -G"Visual Studio 16 2019" -DCMAKE_INSTALL_PREFIX=${CONDA_PREFIX}/Library -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} ..
+
+    - name: Build
+      run: |
+        cd build
+        cmake --build . --config ${{ matrix.build_type }}
+
+    - name: Install
+      run: |
+        cd build
+        cmake --install . --config ${{ matrix.build_type }}
+
+    - name: Test
+      run: |
+        cd build
+        # Only run matlab tests as the rest of tests are already run by other jobs
+        ctest --output-on-failure -C ${{ matrix.build_type }} -R "matlab" -VV . 
+     
+