diff --git a/CMakeLists.txt b/CMakeLists.txt
index 270b7f1e..ba509e2b 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -101,7 +101,7 @@ endif()
 # Add linker
 target_link_libraries(${PROJECT_NAME} ${BIORBD_MODULE_NAMES} ${RBDL_LIBRARY} ${DLIB_LIBRARY} ${IPOPT_LIBRARY})
 
-# installation
+# install target
 install(TARGETS ${PROJECT_NAME}
         ARCHIVE DESTINATION ${${PROJECT_NAME}_LIB_FOLDER}
         RUNTIME DESTINATION ${${PROJECT_NAME}_BIN_FOLDER}
@@ -110,6 +110,18 @@ install(TARGETS ${PROJECT_NAME}
 install(DIRECTORY include/ DESTINATION ${${PROJECT_NAME}_INCLUDE_FOLDER})
 install(FILES ${CMAKE_BINARY_DIR}/include/biorbdConfig.h DESTINATION ${${PROJECT_NAME}_INCLUDE_FOLDER})
         
+# uninstall target
+if(NOT TARGET uninstall)
+    configure_file(
+        "${CMAKE_CURRENT_SOURCE_DIR}/cmake_uninstall.cmake.in"
+        "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake"
+        IMMEDIATE @ONLY)
+
+    add_custom_target(uninstall
+        COMMAND ${CMAKE_COMMAND} -P ${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake)
+endif()
+
+        
 # Add binding subdirectory
 add_subdirectory(binding)
 
diff --git a/cmake_uninstall.cmake.in b/cmake_uninstall.cmake.in
new file mode 100644
index 00000000..26b84397
--- /dev/null
+++ b/cmake_uninstall.cmake.in
@@ -0,0 +1,22 @@
+if(NOT EXISTS "@CMAKE_BINARY_DIR@/install_manifest.txt")
+  message(FATAL_ERROR "Cannot find install manifest: @CMAKE_BINARY_DIR@/install_manifest.txt")
+endif(NOT EXISTS "@CMAKE_BINARY_DIR@/install_manifest.txt")
+
+file(READ "@CMAKE_BINARY_DIR@/install_manifest.txt" files)
+string(REGEX REPLACE "\n" ";" files "${files}")
+foreach(file ${files})
+  message(STATUS "Uninstalling $ENV{DESTDIR}${file}")
+  if(IS_SYMLINK "$ENV{DESTDIR}${file}" OR EXISTS "$ENV{DESTDIR}${file}")
+    exec_program(
+      "@CMAKE_COMMAND@" ARGS "-E remove \"$ENV{DESTDIR}${file}\""
+      OUTPUT_VARIABLE rm_out
+      RETURN_VALUE rm_retval
+      )
+    if(NOT "${rm_retval}" STREQUAL 0)
+      message(FATAL_ERROR "Problem when removing $ENV{DESTDIR}${file}")
+    endif(NOT "${rm_retval}" STREQUAL 0)
+  else(IS_SYMLINK "$ENV{DESTDIR}${file}" OR EXISTS "$ENV{DESTDIR}${file}")
+    message(STATUS "File $ENV{DESTDIR}${file} does not exist.")
+  endif(IS_SYMLINK "$ENV{DESTDIR}${file}" OR EXISTS "$ENV{DESTDIR}${file}")
+endforeach(file)
+