diff --git a/pkgs/development/libraries/fcl/default.nix b/pkgs/development/libraries/fcl/default.nix
new file mode 100644
index 00000000000..21e6b9cac89
--- /dev/null
+++ b/pkgs/development/libraries/fcl/default.nix
@@ -0,0 +1,30 @@
+{ lib, stdenv, fetchFromGitHub, cmake, eigen, libccd, octomap }:
+
+stdenv.mkDerivation rec {
+  pname = "fcl";
+  version = "0.6.1";
+
+  src = fetchFromGitHub {
+    owner = "flexible-collision-library";
+    repo = pname;
+    rev = version;
+    sha256 = "1i1sd0fsvk5d529aw8aw29bsmymqgcmj3ci35sz58nzp2wjn0l5d";
+  };
+
+  nativeBuildInputs = [ cmake ];
+  propagatedBuildInputs = [ eigen libccd octomap ];
+
+  outputs = [ "out" "dev" ];
+
+  meta = with lib; {
+    description = "Flexible Collision Library";
+    longDescription = ''
+      FCL is a library for performing three types of proximity queries on a
+      pair of geometric models composed of triangles.
+    '';
+    homepage = "https://github.com/flexible-collision-library/fcl";
+    license = licenses.bsd3;
+    maintainers = with maintainers; [ lopsided98 ];
+    platforms = platforms.unix;
+  };
+}
diff --git a/pkgs/top-level/all-packages.nix b/pkgs/top-level/all-packages.nix
index 4fa50e4b972..99f036a9687 100644
--- a/pkgs/top-level/all-packages.nix
+++ b/pkgs/top-level/all-packages.nix
@@ -14442,6 +14442,8 @@ in
 
   fcgi = callPackage ../development/libraries/fcgi { };
 
+  fcl = callPackage ../development/libraries/fcl { };
+
   ffcast = callPackage ../tools/X11/ffcast { };
 
   fflas-ffpack = callPackage ../development/libraries/fflas-ffpack { };