diff --git a/.github/workflows/dockgen.yml b/.github/workflows/dockgen.yml
new file mode 100644
index 000000000..9a7686ca0
--- /dev/null
+++ b/.github/workflows/dockgen.yml
@@ -0,0 +1,53 @@
+name: "Publish docker image"
+
+on:
+  push:
+    branches:
+      - devel
+    tags:
+      - "v*"
+
+jobs:
+  dockgen:
+    runs-on: "ubuntu-latest"
+    permissions:
+      contents: read
+      packages: write
+      attestations: write
+      id-token: write
+    steps:
+      - uses: actions/checkout@v6
+
+      - uses: astral-sh/setup-uv@v7
+      - run: uvx dockgen
+
+      # https://docs.github.com/en/packages/managing-github-packages-using-github-actions-workflows/publishing-and-installing-a-package-with-github-actions
+
+      - name: Log in to the Container registry
+        uses: docker/login-action@v4
+        with:
+          registry: ghcr.io
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Extract metadata (tags, labels) for Docker
+        id: meta
+        uses: docker/metadata-action@v6
+        with:
+          images: ghcr.io/${{ github.repository }}
+
+      - name: Build and push Docker image
+        id: push
+        uses: docker/build-push-action@v7
+        with:
+          context: .
+          push: true
+          tags: ${{ steps.meta.outputs.tags }}
+          labels: ${{ steps.meta.outputs.labels }}
+
+      - name: Generate artifact attestation
+        uses: actions/attest-build-provenance@v4
+        with:
+          subject-name: ghcr.io/${{ github.repository }}
+          subject-digest: ${{ steps.push.outputs.digest }}
+          push-to-registry: true
diff --git a/CHANGELOG.md b/CHANGELOG.md
index 9b9d4d188..d9e01732b 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -6,6 +6,9 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 
 ## [Unreleased]
 
+### Added
+- Docker images `ghcr.io/Simple-Robotics/proxsuite` ([#470](https://github.com/Simple-Robotics/proxsuite/pull/470))
+
 ## [0.7.3] - 2026-05-11
 
 ### Added
diff --git a/dockgen.toml b/dockgen.toml
new file mode 100644
index 000000000..ff5672b4a
--- /dev/null
+++ b/dockgen.toml
@@ -0,0 +1,7 @@
+[jrl-cmakemodules]
+url = "github:jrl-umi3218"
+
+[proxsuite]
+apt_deps = ["libeigen3-dev", "libmatio-dev", "libsimde-dev", "python3-numpy", "python3-scipy"]
+url = "."
+src_deps = ["jrl-cmakemodules"]