diff --git a/.github/workflows/macos-linux-conda.yml b/.github/workflows/macos-linux-conda.yml
index 8c8a6cf9c4..62c10cb5fa 100644
--- a/.github/workflows/macos-linux-conda.yml
+++ b/.github/workflows/macos-linux-conda.yml
@@ -89,6 +89,7 @@ jobs:
           -DPYTHON_EXECUTABLE=$(which python3) \
           -DBUILD_WITH_OPENMP_SUPPORT=ON \
           -DINSTALL_DOCUMENTATION=ON \
+          -DGENERATE_PYTHON_STUBS=ON \
           -DOpenMP_ROOT=$CONDA_PREFIX
         cmake --build . -j2
         ctest --output-on-failure
diff --git a/.github/workflows/windows-conda.yml b/.github/workflows/windows-conda.yml
index 1593abfd71..69df377b03 100644
--- a/.github/workflows/windows-conda.yml
+++ b/.github/workflows/windows-conda.yml
@@ -86,6 +86,7 @@ jobs:
           -DBUILD_WITH_COLLISION_SUPPORT=ON ^
           -DBUILD_TESTING=ON ^
           -DINSTALL_DOCUMENTATION=ON ^
+          -DGENERATE_PYTHON_STUBS=ON ^
           ..
 
         :: Build
diff --git a/CHANGELOG.md b/CHANGELOG.md
index 7a24aba06b..a7aecabfc5 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -14,6 +14,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 - Remove a lot of warnings ([#2139](https://github.com/stack-of-tasks/pinocchio/pull/2139))
 - `MeshcatVisualizer` doesn't crash anymore when there is no collision model defined ([#2147](https://github.com/stack-of-tasks/pinocchio/pull/2147))
 - Fix MSVC build ([#2155](https://github.com/stack-of-tasks/pinocchio/pull/2155))
+- Fix stub generation ([#2166](https://github.com/stack-of-tasks/pinocchio/pull/2166))
 
 ### Added
 - Add `examples/floating-base-velocity-viewer.py` to visualize floating base velocity [#2143](https://github.com/stack-of-tasks/pinocchio/pull/2143)
diff --git a/bindings/python/CMakeLists.txt b/bindings/python/CMakeLists.txt
index 4c37b0c789..6e2eeeae1c 100644
--- a/bindings/python/CMakeLists.txt
+++ b/bindings/python/CMakeLists.txt
@@ -91,7 +91,11 @@ IF(BUILD_PYTHON_INTERFACE)
   if(GENERATE_PYTHON_STUBS)
       include("${CMAKE_SOURCE_DIR}/cmake/stubs.cmake")
       LOAD_STUBGEN()
-      GENERATE_STUBS(${CMAKE_CURRENT_BINARY_DIR} ${PROJECT_NAME} ${ABSOLUTE_PYTHON_SITELIB})
+      # Set PYWRAP and PROJECT_NAME as stubs dependencies.
+      # PROJECT_NAME is mandatory (even if it's a PYWRAP dependency)
+      # to find PROJECT_NAME name DLL on windows.
+      GENERATE_STUBS(${CMAKE_CURRENT_BINARY_DIR} ${PROJECT_NAME} ${ABSOLUTE_PYTHON_SITELIB}
+        ${PYWRAP} ${PROJECT_NAME})
   endif(GENERATE_PYTHON_STUBS)
 
   INSTALL(