diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 9e47889a10d..d288ca847a9 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -56,8 +56,14 @@ jobs:
         unzip vcpkg-robotology.zip -d C:/robotology/vcpkg
         # Overwrite the VCPKG_INSTALLATION_ROOT env variable defined by GitHub Actions to point to our vcpkg
         echo "::set-env name=VCPKG_INSTALLATION_ROOT::C:/robotology/vcpkg"
-
         
+    - name: Additional vcpkg Dependencies [Windows]
+      if: matrix.os == 'windows-latest'
+      shell: bash
+      run: |
+        # Install dependencies that are not included in the robotology-superbuild-dependencies-vcpkg archive (for now)
+        ${VCPKG_INSTALLATION_ROOT}/vcpkg.exe install assimp:x64-windows
+
     - name: Dependencies [macOS]
       if: matrix.os == 'macOS-latest'
       run: |
@@ -146,9 +152,8 @@ jobs:
         mkdir -p build
         cd build
         # ipopt disabled until https://github.com/robotology/idyntree/issues/274 is fixed
-        # assimp disabled until https://github.com/robotology/idyntree/issues/601 is fixed
         cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_INSTALLATION_ROOT}/scripts/buildsystems/vcpkg.cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \
-              -DIDYNTREE_COMPILE_TESTS:BOOL=ON -DIDYNTREE_USES_YARP:BOOL=OFF -DIDYNTREE_USES_ICUB_MAIN:BOOL=OFF -DIDYNTREE_RUN_VALGRIND_TESTS:BOOL=ON \
+              -DIDYNTREE_COMPILE_TESTS:BOOL=ON -DIDYNTREE_USES_ASSIMP:BOOL=ON  -DIDYNTREE_USES_YARP:BOOL=OFF -DIDYNTREE_USES_ICUB_MAIN:BOOL=OFF -DIDYNTREE_RUN_VALGRIND_TESTS:BOOL=ON \
               -DIDYNTREE_USES_PYTHON:BOOL=OFF -DIDYNTREE_USES_OCTAVE:BOOL=OFF -DIDYNTREE_USES_IPOPT:BOOL=OFF -DIDYNTREE_USES_ASSIMP:BOOL=OFF \
               -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install ..
 
@@ -158,7 +163,7 @@ jobs:
       run: |
         mkdir -p build
         cd build
-        # IDYNTREE_USES_ASSIMP set to OFF as a workaround for https://github.com/robotology/idyntree/issues/599
+        # Assimp is disabled as workaround for https://github.com/robotology/idyntree/issues/599
         cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps -DIDYNTREE_COMPILE_TESTS:BOOL=ON -DIDYNTREE_USES_YARP:BOOL=ON \
               -DIDYNTREE_USES_ICUB_MAIN:BOOL=ON -DIDYNTREE_USES_Qt5:BOOL=ON  -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DIDYNTREE_USES_ASSIMP:BOOL=OFF \
               -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install ..
@@ -167,7 +172,8 @@ jobs:
       if: matrix.os == 'ubuntu-latest'
       run: |
         cd build
-        cmake -DIDYNTREE_USES_OCTAVE:BOOL=ON -DIDYNTREE_USES_PYTHON:BOOL=ON -DIDYNTREE_RUN_VALGRIND_TESTS:BOOL=ON -DIDYNTREE_USES_KDL:BOOL=ON .
+        # Assimp is disabled on Ubuntu as a workaround for https://github.com/robotology/idyntree/issues/663
+        cmake -DIDYNTREE_USES_OCTAVE:BOOL=ON -DIDYNTREE_USES_PYTHON:BOOL=ON -DIDYNTREE_RUN_VALGRIND_TESTS:BOOL=ON -DIDYNTREE_USES_KDL:BOOL=ON  -DIDYNTREE_USES_ASSIMP:BOOL=OFF  .
         # For some reason, Ubuntu 18.04 image in GitHub Actions contain OpenBLAS 0.3.5, that is affected by https://github.com/xianyi/OpenBLAS/issues/2003
         # As a workaround, we test against the regular blas instead of openblas
         sudo apt-get install libblas-dev libatlas-base-dev
diff --git a/CHANGELOG.md b/CHANGELOG.md
index 5dc4e4c08a1..824033f7c32 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -7,6 +7,11 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ## [Unreleased]
 
+## [1.0.3] - 2020-04-01
+
+### Fixed 
+- Fixed configuration and compilation with Assimp >= 5.0.0 . 
+
 ## [1.0.2] - 2020-02-21
 
 ### Fixed 
diff --git a/cmake/iDynTreeDependencies.cmake b/cmake/iDynTreeDependencies.cmake
index faff4d11bb0..64dc7f77693 100644
--- a/cmake/iDynTreeDependencies.cmake
+++ b/cmake/iDynTreeDependencies.cmake
@@ -98,4 +98,4 @@ if(IDYNTREE_USES_ALGLIB AND ALGLIB_FOUND)
 endif()
 idyntree_handle_dependency(WORHP DO_NOT_SILENTLY_SEARCH)
 # Workaround for https://github.com/robotology/idyntree/issues/599
-idyntree_handle_dependency(ASSIMP DO_NOT_SILENTLY_SEARCH MAIN_TARGET assimp::assimp)
+idyntree_handle_dependency(assimp DO_NOT_SILENTLY_SEARCH MAIN_TARGET assimp::assimp)
diff --git a/src/solid-shapes/CMakeLists.txt b/src/solid-shapes/CMakeLists.txt
index 14f8b549d6b..9d4443fff2e 100644
--- a/src/solid-shapes/CMakeLists.txt
+++ b/src/solid-shapes/CMakeLists.txt
@@ -16,9 +16,16 @@ target_include_directories(${libraryname} PRIVATE ${EIGEN3_INCLUDE_DIR})
 
 if (IDYNTREE_USES_ASSIMP)
   target_compile_definitions(${libraryname} PRIVATE IDYNTREE_USES_ASSIMP)
-  target_include_directories(${libraryname} PRIVATE "${ASSIMP_INCLUDE_DIRS}")
-  link_directories("${ASSIMP_LIBRARY_DIRS}")
-  target_link_libraries(${libraryname} PRIVATE "${ASSIMP_LIBRARIES}")
+  # Depending on the assimp version, the way of consuming assimp changes
+  # In assimp 5.0, only the imported assimp::assimp target is defined, in earlier 
+  # versions (that do no export the version to CMake) the ASSIMP_* variables are defined
+  if(assimp_VERSION AND assimp_VERSION VERSION_GREATER_EQUAL 5.0)
+    target_link_libraries(${libraryname} PRIVATE "${ASSIMP_LIBRARIES}")
+  else()
+    target_include_directories(${libraryname} PRIVATE "${ASSIMP_INCLUDE_DIRS}")
+    link_directories("${ASSIMP_LIBRARY_DIRS}")
+    target_link_libraries(${libraryname} PRIVATE "${ASSIMP_LIBRARIES}")
+  endif()
 endif()
 
 set_property(TARGET ${libraryname} PROPERTY PUBLIC_HEADER ${IDYNTREE_SOLID_SHAPES_HEADERS})