diff --git a/cmake/FindIgnURDFDOM.cmake b/cmake/FindIgnURDFDOM.cmake
new file mode 100644
index 00000000..f8d8fd4b
--- /dev/null
+++ b/cmake/FindIgnURDFDOM.cmake
@@ -0,0 +1,52 @@
+#
+# Copyright (C) 2021 Open Source Robotics Foundation
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+
+# Prefer pkg-config over cmake if possible since version checking is not working
+# on urdfdom series from 1.x to 3.0.0 (at least)
+include(IgnPkgConfig)
+if(PKG_CONFIG_FOUND)
+  if (IgnURDFDOM_FIND_VERSION)
+    set(signature "urdfdom >= ${IgnURDFDOM_FIND_VERSION}")
+  else()
+    set(signature "urdfdom")
+  endif()
+  ign_pkg_check_modules(IgnURDFDOM "${signature}")
+else()
+  message(VERBOSE "Unable to find pkg-config in the system, fallback to use CMake")
+endif()
+
+if(NOT IgnURDFDOM_FOUND)
+  if(IgnURDFDOM_FIND_VERSION)
+    set(find_version VERSION ${IgnURDFDOM_FIND_VERSION})
+  else()
+    set(find_version "")
+  endif()
+
+  # NOTE: urdfdom cmake does not support version checking
+  ign_find_package(urdfdom ${find_version} QUIET)
+  if (urdfdom_FOUND)
+    add_library(IgnURDFDOM::IgnURDFDOM INTERFACE IMPORTED)
+    target_link_libraries(IgnURDFDOM::IgnURDFDOM
+      INTERFACE
+        urdfdom::urdfdom_model
+        urdfdom::urdfdom_world
+        urdfdom::urdfdom_sensor
+        urdfdom::urdfdom_model_state
+    )
+    include(FindPackageHandleStandardArgs)
+    find_package_handle_standard_args(IgnURDFDOM DEFAULT_MSG)
+  endif()
+endif()