diff --git a/CMakeLists.txt b/CMakeLists.txt
index 6ccd722..85f13d6 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -125,6 +125,20 @@ endif()
 add_library(${PROJECT_NAME} INTERFACE)
 install(TARGETS ${PROJECT_NAME} EXPORT ${TARGETS_EXPORT_NAME} DESTINATION lib)
 
+option(GENERATE_PYTHON_STUBS "Generate Python stubs (.pyi files)" ON)
+if(GENERATE_PYTHON_STUBS)
+    find_program(PYBIND11_STUBGEN_EXECUTABLE pybind11-stubgen)
+    if(NOT PYBIND11_STUBGEN_EXECUTABLE)
+        message(
+            WARNING
+            "pybind11-stubgen not found. Stubs will not be generated."
+        )
+        set(GENERATE_PYTHON_STUBS OFF CACHE BOOL "Generate Python stubs" FORCE)
+    else()
+        message(STATUS "pybind11-stubgen found: ${PYBIND11_STUBGEN_EXECUTABLE}")
+    endif()
+endif()
+
 add_subdirectory(src)
 if(BUILD_TESTING)
     add_subdirectory(tests)
diff --git a/flake.nix b/flake.nix
index 91de00e..861e72b 100644
--- a/flake.nix
+++ b/flake.nix
@@ -27,19 +27,22 @@
           inputs.hpp-core.overlays.flakoboros
           inputs.hpp-manipulation.overlays.flakoboros
         ];
-        pyOverrideAttrs.hpp-python = {
-          src = lib.fileset.toSource {
-            root = ./.;
-            fileset = lib.fileset.unions [
-              ./CMakeLists.txt
-              ./doc
-              ./include
-              ./package.xml
-              ./src
-              ./tests
-            ];
+        pyOverrideAttrs.hpp-python =
+          { drv-prev, python-final, ... }:
+          {
+            nativeBuildInputs = drv-prev.nativeBuildInputs ++ [ python-final.pybind11-stubgen ];
+            src = lib.fileset.toSource {
+              root = ./.;
+              fileset = lib.fileset.unions [
+                ./CMakeLists.txt
+                ./doc
+                ./include
+                ./package.xml
+                ./src
+                ./tests
+              ];
+            };
           };
-        };
       }
     );
 }
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 7664b04..a8a59d0 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -80,6 +80,40 @@ macro(ADD_PYTHON_LIBRARY MODULE)
         FILES ${CMAKE_CURRENT_BINARY_DIR}/${MODULE}/__init__.py
         DESTINATION ${PYTHON_SITELIB}/${MODULE}
     )
+
+    set_property(
+        GLOBAL
+        APPEND
+        PROPERTY PYHPP_ALL_BINDING_TARGETS ${TARGET_NAME}
+    )
+
+    if(GENERATE_PYTHON_STUBS AND PYBIND11_STUBGEN_EXECUTABLE)
+        string(REPLACE "/" "." MODULE_DOT_PATH "${MODULE}")
+        set(STUB_OUTPUT_DIR ${CMAKE_BINARY_DIR}/stubs)
+
+        add_custom_command(
+            OUTPUT ${STUB_OUTPUT_DIR}/${MODULE}/${LIBNAME}.pyi
+            COMMAND
+                ${CMAKE_COMMAND} -E env
+                "PYTHONPATH=${CMAKE_BINARY_DIR}/src:$ENV{PYTHONPATH}"
+                ${PYBIND11_STUBGEN_EXECUTABLE} ${MODULE_DOT_PATH}.${LIBNAME}
+                --output-dir ${STUB_OUTPUT_DIR}
+            DEPENDS all_pyhpp_bindings
+            COMMENT "Generating Python stubs for ${MODULE_DOT_PATH}.${LIBNAME}"
+            VERBATIM
+        )
+
+        add_custom_target(
+            stubs_${TARGET_NAME}
+            ALL
+            DEPENDS ${STUB_OUTPUT_DIR}/${MODULE}/${LIBNAME}.pyi
+        )
+
+        install(
+            FILES ${STUB_OUTPUT_DIR}/${MODULE}/${LIBNAME}.pyi
+            DESTINATION ${PYTHON_SITELIB}/${MODULE}
+        )
+    endif()
 endmacro()
 
 python_install_on_site(pyhpp __init__.py)
@@ -199,6 +233,9 @@ add_python_library(
   hpp-manipulation-urdf::hpp-manipulation-urdf
 )
 
+get_property(PYHPP_ALL_BINDINGS GLOBAL PROPERTY PYHPP_ALL_BINDING_TARGETS)
+add_custom_target(all_pyhpp_bindings DEPENDS ${PYHPP_ALL_BINDINGS})
+
 # Install tool submodule
 python_install_on_site(pyhpp/tools __init__.py)
 python_install_on_site(pyhpp/tools xacro.py)