diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
deleted file mode 100644
index 068dd64f9..000000000
--- a/.github/workflows/ci.yml
+++ /dev/null
@@ -1,70 +0,0 @@
-name: CI
-
-on:
-  push:
-  pull_request:
-
-jobs:
-
-  ci:
-    name: '${{ matrix.os }}'
-    runs-on: ${{ matrix.os }}
-    strategy:
-      matrix:
-        os:
-          - ubuntu-latest
-          - macos-latest
-
-    steps:
-
-      - uses: actions/checkout@master
-      - run: git fetch --prune --unshallow
-
-      - name: 'Ubuntu: System Dependencies'
-        if: matrix.os == 'ubuntu-latest'
-        run: |
-          sudo apt-get update
-          sudo apt-get install -y --no-install-recommends \
-            libace-dev libeigen3-dev libgsl-dev libedit-dev \
-            python3-numpy libxml2-dev coinor-libipopt-dev \
-            ninja-build
-
-      - name: 'MacOS: System Dependencies'
-        if: matrix.os == 'macos-latest'
-        run: brew install ace assimp eigen tinyxml gsl ipopt ninja
-
-      - name: Setup dependencies branch [master]
-        if: |
-          github.ref == 'refs/heads/master' ||
-          (github.event_name == 'pull_request' && github.event.pull_request.head.ref == 'refs/heads/master')
-        run: echo "DEPS_BRANCH=master" >> $GITHUB_ENV
-
-      - name: Setup dependencies branch [other]
-        if: |
-          (github.event_name == 'push' && github.ref != 'refs/heads/master') ||
-          (github.event_name == 'pull_request' && github.event.pull_request.head.ref != 'refs/heads/master')
-        run: echo "DEPS_BRANCH=devel" >> $GITHUB_ENV
-
-      - name: Install dependencies
-        run: |
-          export DEPS_CACHE=$HOME/deps
-          export PATH=$PATH:$DEPS_CACHE/bin
-          export CMAKE_PREFIX_PATH=$CMAKE_PREFIX_PATH:$DEPS_CACHE
-          ./.ci/install.sh || false
-        env:
-          CMAKE_GENERATOR: Ninja
-          CMAKE_BUILD_TYPE: Debug
-
-      - name: Build
-        run: |
-          export DEPS_CACHE=$HOME/deps
-          export PATH=$PATH:$DEPS_CACHE/bin
-          export CMAKE_PREFIX_PATH=$CMAKE_PREFIX_PATH:$DEPS_CACHE
-          mkdir build && cd build
-          cmake ..\
-            -G"$CMAKE_GENERATOR" \
-            -DCMAKE_BUILD_TYPE=$CMAKE_BUILD_TYPE
-          cmake --build . --config $CMAKE_BUILD_TYPE
-        env:
-          CMAKE_GENERATOR: Ninja
-          CMAKE_BUILD_TYPE: Debug
diff --git a/.github/workflows/conda-ci.yml b/.github/workflows/conda-ci.yml
new file mode 100644
index 000000000..2f3bb122d
--- /dev/null
+++ b/.github/workflows/conda-ci.yml
@@ -0,0 +1,64 @@
+name: C++ CI Workflow with dependencies installed via conda
+
+on:
+  push:
+  pull_request:
+  schedule:
+  # * is a special character in YAML so you have to quote this string
+  # Execute a "nightly" build at 2 AM UTC 
+  - cron:  '0 2 * * *'
+
+jobs:
+  build:
+    name: '[${{ matrix.os }}@${{ matrix.build_type }}@conda]'
+    runs-on: ${{ matrix.os }}
+    strategy:
+      matrix:
+        build_type: [Release]
+        os: [ubuntu-latest, windows-latest, macOS-latest]
+      fail-fast: false
+
+    steps:
+    - uses: actions/checkout@v2
+
+    - uses: conda-incubator/setup-miniconda@v2
+      with:
+        mamba-version: "*"
+        channels: conda-forge,robotology
+        channel-priority: true
+
+    - name: Dependencies
+      shell: bash -l {0}
+      run: |
+        # Compilation related dependencies 
+        mamba install cmake compilers ninja pkg-config
+        # Actual dependencies
+        mamba install eigen blockfactory idyntree osqp-eigen qpoases yarp
+
+    - name: Configure [Linux&macOS]
+      if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu')
+      shell: bash -l {0}
+      run: |
+        mkdir -p build
+        cd build
+        cmake -GNinja -DBUILD_TESTING:BOOL=ON -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} ..
+      
+    - name: Configure [Windows]
+      if: contains(matrix.os, 'windows')
+      shell: bash -l {0}
+      run: |
+        mkdir -p build
+        cd build
+        cmake -G"Visual Studio 16 2019" -DBUILD_TESTING:BOOL=ON -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} ..
+
+    - name: Build 
+      shell: bash -l {0}
+      run: |
+        cd build
+        cmake --build . --config ${{ matrix.build_type }}
+        
+    - name: Test
+      shell: bash -l {0}
+      run: |
+        cd build
+        ctest --output-on-failure -C ${{ matrix.build_type }}