diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 5134f86500f..fdefc652cb9 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -17,7 +17,72 @@ env:
   VCPKG_INSTALLATION_ROOT: C:\robotology\vcpkg
   
 jobs:
-  build:
+  build-with-conda-dependencies:    
+    name: '[conda:${{ matrix.os }}]'
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        build_type: [Release]
+        os: [ubuntu-20.04, macos-10.15, windows-2019]
+
+    steps:
+    - uses: actions/checkout@v2
+
+    - uses: conda-incubator/setup-miniconda@v2
+      with:
+        auto-update-conda: true
+
+    - name: Dependencies [Conda]
+      shell: bash -l {0}
+      run: |
+        # Install mamba (https://github.com/mamba-org/mamba) as first step 
+        conda install -c conda-forge mamba
+        # Compilation related dependencies 
+        mamba install -c conda-forge cmake compilers make ninja pkg-config
+        # Actual dependencies
+        mamba install -c conda-forge eigen libxml2 assimp ipopt qt
+
+    # Additional dependencies useful only on Linux
+    - name: Dependencies [Conda/Linux]
+      if: contains(matrix.os, 'ubuntu') 
+      shell: bash -l {0}
+      run: |
+        # Additional dependencies only useful on Linux
+        # See https://github.com/robotology/robotology-superbuild/issues/477
+        mamba install -c conda-forge expat-cos6-x86_64 freeglut libselinux-cos6-x86_64 libxau-cos6-x86_64 libxcb-cos6-x86_64 libxdamage-cos6-x86_64 libxext-cos6-x86_64 libxfixes-cos6-x86_64 libxxf86vm-cos6-x86_64 mesalib mesa-libgl-cos6-x86_64
+
+    - name: Configure [Conda/Linux&macOS]
+      if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu')
+      shell: bash -l {0}
+      run: |
+        mkdir build
+        cd build
+        cmake -GNinja -DCMAKE_BUILD_TYPE=${{ matrix.build_type }}  -DIDYNTREE_COMPILE_TESTS:BOOL=ON -DIDYNTREE_USES_Qt5:BOOL=ON -DIDYNTREE_USES_ASSIMP:BOOL=ON -DIDYNTREE_USES_IPOPT:BOOL=ON ..
+
+    - name: Configure [Conda/Windows]
+      if: contains(matrix.os, 'windows')
+      shell: bash -l {0}
+      run: |
+        mkdir build
+        cd build
+        cmake -G"Visual Studio 16 2019"  -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DIDYNTREE_COMPILE_TESTS:BOOL=ON -DIDYNTREE_USES_Qt5:BOOL=ON -DIDYNTREE_USES_ASSIMP:BOOL=ON -DIDYNTREE_USES_IPOPT:BOOL=ON ..
+
+    - name: Build [Conda]
+      shell: bash -l {0}
+      run: |
+        cd build
+        cmake --build . --config ${{ matrix.build_type }}
+
+    - name: Test [Conda]
+      # Test disabled on Windows due to https://github.com/robotology/idyntree/issues/787
+      if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu')
+      shell: bash -l {0}
+      run: |
+        cd build
+        ctest --output-on-failure -C ${{ matrix.build_type }} . 
+
+  build-with-system-dependencies:
     name: '[${{ matrix.os }}@${{ matrix.build_type }}]'
     runs-on: ${{ matrix.os }}
     strategy: