diff --git a/.github/workflows/conda/environment_macos_linux.yml b/.github/workflows/conda/environment_macos_linux.yml
new file mode 100644
index 0000000000..a465fe2ad5
--- /dev/null
+++ b/.github/workflows/conda/environment_macos_linux.yml
@@ -0,0 +1,17 @@
+name: pinocchio
+channels:
+  - conda-forge
+dependencies:
+  - eigen=3.4.0
+  - hpp-fcl
+  - numpy
+  - boost
+  - eigenpy
+  - urdfdom
+  - python
+  - cmake
+  - ccache
+  - pkg-config
+  - ninja
+  - llvm-openmp
+  - cxx-compiler
diff --git a/.github/workflows/conda/conda-env.yml b/.github/workflows/conda/environment_windows.yml
similarity index 75%
rename from .github/workflows/conda/conda-env.yml
rename to .github/workflows/conda/environment_windows.yml
index 6d0dc37225..426ee8a438 100644
--- a/.github/workflows/conda/conda-env.yml
+++ b/.github/workflows/conda/environment_windows.yml
@@ -1,7 +1,6 @@
 name: pinocchio
 channels:
   - conda-forge
-  - nodefaults
 dependencies:
   - eigen=3.4.0
   - hpp-fcl
@@ -10,4 +9,7 @@ dependencies:
   - eigenpy
   - urdfdom
   - python
-  - mamba
+  - cmake
+  - ccache
+  - pkg-config
+  - ninja
diff --git a/.github/workflows/macos-linux-conda.yml b/.github/workflows/macos-linux-conda.yml
index 8e09544c32..7c45fc236a 100644
--- a/.github/workflows/macos-linux-conda.yml
+++ b/.github/workflows/macos-linux-conda.yml
@@ -4,10 +4,13 @@ on: [push,pull_request]
 
 jobs:
   pinocchio-conda:
-    name: Pinocchio on ${{ matrix.os }} in ${{ matrix.build_type }} mode with Conda
+    name: ${{ matrix.os }} - Python ${{ matrix.python-version }} ${{ matrix.build_type }} with Conda
     runs-on: ${{ matrix.os }}
     env:
-      CCACHE_DIR: ${{ matrix.CCACHE_DIR }}
+      CCACHE_BASEDIR: "${GITHUB_WORKSPACE}"
+      CCACHE_DIR: "${GITHUB_WORKSPACE}/.ccache"
+      CCACHE_COMPRESS: true
+      CCACHE_COMPRESSLEVEL: 6
       BUILD_ADVANCED_TESTING: ${{ matrix.BUILD_ADVANCED_TESTING }}
 
     strategy:
@@ -15,13 +18,12 @@ jobs:
       matrix:
         os: ["ubuntu-latest", "macos-latest"]
         build_type: [Release, Debug]
+        python-version: ["3.8", "3.12"]
 
         include:
           - os: ubuntu-latest
-            CCACHE_DIR: /home/runner/.ccache
             BUILD_ADVANCED_TESTING: OFF
           - os: macos-latest
-            CCACHE_DIR: /Users/runner/.ccache
             BUILD_ADVANCED_TESTING: ON
 
     steps:
@@ -31,40 +33,61 @@ jobs:
 
     - uses: actions/cache@v3
       with:
-        path: ${{ env.CCACHE_DIR }}
-        key: ccache-conda-${{ matrix.os }}-${{ matrix.build_type }}
+        path: .ccache
+        key: ccache-macos-linux-conda-${{ matrix.os }}-${{ matrix.build_type }}-${{ matrix.python-version }}-${{ github.sha }}
+        restore-keys: ccache-macos-linux-conda-${{ matrix.os }}-${{ matrix.build_type }}-${{ matrix.python-version }}-
 
     - uses: conda-incubator/setup-miniconda@v3
       with:
         activate-environment: pinocchio
         auto-update-conda: true
-        environment-file: .github/workflows/conda/conda-env.yml
-        python-version: 3.8
+        environment-file: .github/workflows/conda/environment_macos_linux.yml
+        python-version: ${{ matrix.python-version }}
+        auto-activate-base: false
 
-    - name: Install cmake and update conda
-      shell: bash -l {0}
-      run: |
-        conda activate pinocchio
-        conda install cmake ccache llvm-openmp compilers=1.4.2 -c conda-forge
-        conda list
 
     - name: Build Pinocchio
-      shell: bash -l {0}
+      shell: bash -el {0}
       run: |
-        conda activate pinocchio
+        conda list
         echo $CONDA_PREFIX
 
         mkdir build
         cd build
 
-        cmake .. -DCMAKE_CXX_COMPILER_LAUNCHER=ccache -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DBUILD_WITH_COLLISION_SUPPORT=ON -DBUILD_ADVANCED_TESTING=${{ env.BUILD_ADVANCED_TESTING }}  -DBUILD_WITH_CASADI_SUPPORT=OFF -DPYTHON_EXECUTABLE=$(which python3) -DBUILD_WITH_OPENMP_SUPPORT=ON -DINSTALL_DOCUMENTATION=ON -DOpenMP_ROOT=$CONDA_PREFIX
-        make
-        make build_tests
-        CTEST_OUTPUT_ON_FAILURE=1 make test
-        make install
+        cmake .. \
+          -G "Ninja" \
+          -DCMAKE_CXX_COMPILER_LAUNCHER=ccache \
+          -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX \
+          -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \
+          -DBUILD_WITH_COLLISION_SUPPORT=ON \
+          -DBUILD_ADVANCED_TESTING=${{ env.BUILD_ADVANCED_TESTING }} \
+          -DBUILD_WITH_CASADI_SUPPORT=OFF \
+          -DPYTHON_EXECUTABLE=$(which python3) \
+          -DBUILD_WITH_OPENMP_SUPPORT=ON \
+          -DINSTALL_DOCUMENTATION=ON \
+          -DOpenMP_ROOT=$CONDA_PREFIX
+        cmake --build . -j2
+        ctest --output-on-failure
+        cmake --install .
 
     - name: Uninstall Pinocchio
-      shell: bash -l {0}
+      shell: bash -el {0}
       run: |
         cd build
-        make uninstall
+        cmake --build . --target uninstall
+
+  check:
+    if: always()
+    name: check-macos-linux-conda
+
+    needs:
+    - pinocchio-conda
+
+    runs-on: Ubuntu-latest
+
+    steps:
+    - name: Decide whether the needed jobs succeeded or failed
+      uses: re-actors/alls-green@release/v1
+      with:
+        jobs: ${{ toJSON(needs) }}
diff --git a/.github/workflows/ros-ci.yml b/.github/workflows/ros-ci.yml
index 6e57d1abf0..e5d9e89b87 100644
--- a/.github/workflows/ros-ci.yml
+++ b/.github/workflows/ros-ci.yml
@@ -37,7 +37,8 @@ jobs:
       - uses: actions/cache@v3
         with:
           path: ${{ env.CCACHE_DIR }}
-          key: ccache-${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}
+          key: ccache-${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}-${{ github.sha }}
+          restore-keys: ccache-${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}-
       # Run industrial_ci
       - uses: 'ros-industrial/industrial_ci@3ed9846c96ed1e0bb36193e8e250632eaac980d0'
         env: ${{ matrix.env }}
diff --git a/.github/workflows/windows-conda-clang.yml b/.github/workflows/windows-conda-clang.yml
deleted file mode 100644
index 028bc8f348..0000000000
--- a/.github/workflows/windows-conda-clang.yml
+++ /dev/null
@@ -1,75 +0,0 @@
-name: CI - Windows (CLANG) via Conda
-on:
-  pull_request:
-  push:
-
-jobs:
-  build:
-    runs-on: ${{ matrix.os }}
-    strategy:
-      fail-fast: false
-      matrix:
-        name: [windows-latest-clang-cl]
-
-        include:
-          - name: windows-latest-clang-cl
-            os: windows-2019
-            compiler: clang-cl
-
-    steps:
-    - uses: actions/checkout@v4
-    - name: Checkout submodules
-      run: |
-        git submodule update --init
-    - uses: goanpeca/setup-miniconda@v2
-      env:
-        ACTIONS_ALLOW_UNSECURE_COMMANDS: 'true'
-      with:
-        activate-environment: pinocchio
-        environment-file: .github/workflows/conda/conda-env.yml
-        python-version: 3.7
-    - name: Install cmake and update conda
-      run: |
-        conda install cmake -c main
-        conda list
-
-    - name: Build Pinocchio
-      shell: cmd /C CALL {0}
-      env:
-        ACTIONS_ALLOW_UNSECURE_COMMANDS: 'true'
-      run: |
-        :: unset extra Boost envs
-        set Boost_ROOT=
-        set BOOST_ROOT_1_69_0=
-        set BOOST_ROOT_1_72_0=
-        set PATH=%PATH:C:\hostedtoolcache\windows\Boost\1.72.0;=%
-
-        call "%programfiles(x86)%\Microsoft Visual Studio\2019\Enterprise\VC\Auxiliary\Build\vcvarsall.bat" amd64
-
-        :: Create build directory
-        mkdir build
-        pushd build
-
-        :: Configure
-        cmake ^
-          -G "Visual Studio 16 2019" -T "ClangCl" -DCMAKE_GENERATOR_PLATFORM=x64 ^
-          -DCMAKE_INSTALL_PREFIX=%CONDA_PREFIX%\Library ^
-          -DCMAKE_BUILD_TYPE=Release ^
-          -DPYTHON_SITELIB=%CONDA_PREFIX%\Lib\site-packages ^
-          -DPYTHON_EXECUTABLE=%CONDA_PREFIX%\python.exe ^
-          -DBUILD_WITH_URDF_SUPPORT=ON ^
-          -DBUILD_PYTHON_INTERFACE=ON ^
-          -DBUILD_WITH_COLLISION_SUPPORT=ON ^
-          -DINSTALL_DOCUMENTATION=ON ^
-          ..
-
-        :: Build
-        cmake --build . --config Release --target install
-
-        :: Testing
-        set PATH=%PATH%;%CONDA_PREFIX%\Lib\site-packages\pinocchio
-        ctest --output-on-failure -C Release -V
-
-        :: Test Python import
-        cd ..
-        python -c "import pinocchio"
diff --git a/.github/workflows/windows-conda-v142.yml b/.github/workflows/windows-conda-v142.yml
deleted file mode 100644
index 29e8d3d741..0000000000
--- a/.github/workflows/windows-conda-v142.yml
+++ /dev/null
@@ -1,94 +0,0 @@
-name: CI - Windows (v142) via Conda
-on:
-  pull_request:
-  push:
-
-jobs:
-  build:
-    runs-on: ${{ matrix.os }}
-    strategy:
-      fail-fast: false
-      matrix:
-        name: [windows-latest]
-
-        include:
-          - name: windows-latest
-            os: windows-2019
-
-    steps:
-    - uses: actions/checkout@v4
-    - name: Checkout submodules
-      run: |
-        git submodule update --init
-    - uses: goanpeca/setup-miniconda@v2
-      env:
-        ACTIONS_ALLOW_UNSECURE_COMMANDS: 'true'
-      with:
-        activate-environment: pinocchio
-        environment-file: .github/workflows/conda/conda-env.yml
-        python-version: 3.7
-    - name: Install cmake and update conda
-      run: |
-        conda install cmake -c main
-        conda list
-
-    - name: Display the path
-      run: echo %cd%
-      shell: cmd
-
-    - name: Build Pinocchio
-      shell: cmd /C CALL {0}
-      env:
-        ACTIONS_ALLOW_UNSECURE_COMMANDS: 'true'
-      run: |
-        :: unset extra Boost envs
-        set Boost_ROOT=
-        set BOOST_ROOT_1_69_0=
-        set BOOST_ROOT_1_72_0=
-
-        call "%programfiles(x86)%\Microsoft Visual Studio\2019\Enterprise\VC\Auxiliary\Build\vcvarsall.bat" amd64
-
-        :: Create build directory
-        mkdir build
-        pushd build
-
-        :: Configure
-        cmake ^
-          -G "Visual Studio 16 2019" -T "v142" -DCMAKE_GENERATOR_PLATFORM=x64 ^
-          -DCMAKE_INSTALL_PREFIX=%CONDA_PREFIX%\Library ^
-          -DCMAKE_BUILD_TYPE=Release ^
-          -DPYTHON_SITELIB=%CONDA_PREFIX%\Lib\site-packages ^
-          -DPYTHON_EXECUTABLE=%CONDA_PREFIX%\python.exe ^
-          -DBUILD_WITH_URDF_SUPPORT=ON ^
-          -DBUILD_PYTHON_INTERFACE=OFF ^
-          -DBUILD_WITH_COLLISION_SUPPORT=ON ^
-          -DBUILD_TESTING=ON ^
-          -DINSTALL_DOCUMENTATION=ON ^
-          ..
-
-        :: Build
-        cmake --build . --config Release --target install
-
-#    - name: Start SSH session
-#      uses: luchihoratiu/debug-via-ssh@main
-#      with:
-#        NGROK_AUTH_TOKEN: ${{ secrets.NGROK_AUTH_TOKEN }}
-#        SSH_PASS: ${{ secrets.SSH_PASS }}
-#
-    - name: Testing
-      shell: cmd /C CALL {0}
-      env:
-        ACTIONS_ALLOW_UNSECURE_COMMANDS: 'true'
-      run: |
-        :: Testing
-        pushd build
-        set PATH=%PATH%;%CONDA_PREFIX%\Lib\site-packages\pinocchio
-        set PATH=%PATH%;%CONDA_PREFIX%\Library\Lib
-        set PATH=%PATH%;%CONDA_PREFIX%\Library\bin
-        .\unittest\Release\test-cpp-urdf.exe
-        .\examples\Release\example-cpp-geometry-models.exe
-        ctest --output-on-failure -C Release -V --repeat until-pass:1
-
-#        :: Test Python import
-#        cd ..
-#        python -c "import pinocchio"
diff --git a/.github/workflows/windows-conda.yml b/.github/workflows/windows-conda.yml
new file mode 100644
index 0000000000..9f08e8fa5e
--- /dev/null
+++ b/.github/workflows/windows-conda.yml
@@ -0,0 +1,99 @@
+name: CI - Windows via Conda
+on:
+  pull_request:
+  push:
+
+jobs:
+  build:
+    name: ${{ matrix.os }} - ${{ matrix.compiler }} with Conda
+    runs-on: ${{ matrix.os }}
+    env:
+      CCACHE_BASEDIR: "${GITHUB_WORKSPACE}"
+      CCACHE_DIR: "${GITHUB_WORKSPACE}/.ccache"
+      CCACHE_COMPRESS: true
+      CCACHE_COMPRESSLEVEL: 6
+
+    strategy:
+      fail-fast: false
+      matrix:
+        os: ["windows-2019"]
+        compiler: ["cl", "clang-cl"]
+
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        submodules: recursive
+
+    - uses: actions/cache@v3
+      with:
+        path: .ccache
+        key: ccache-windows-conda-${{ matrix.compiler }}-${{ matrix.os }}-${{ github.sha }}
+        restore-keys: ccache-windows-conda-${{ matrix.compiler }}-${{ matrix.os }}-
+
+    - uses: conda-incubator/setup-miniconda@v3
+      with:
+        activate-environment: pinocchio
+        auto-update-conda: true
+        environment-file: .github/workflows/conda/environment_windows.yml
+        python-version: "3.10"
+        auto-activate-base: false
+
+    - name: Build Pinocchio
+      shell: cmd /C CALL {0}
+      env:
+        CC: ${{ matrix.compiler }}
+        CXX: ${{ matrix.compiler }}
+      run: |
+        call conda list
+
+        call "%programfiles(x86)%\Microsoft Visual Studio\2019\Enterprise\VC\Auxiliary\Build\vcvarsall.bat" amd64
+
+        :: Create build directory
+        mkdir build
+        pushd build
+
+        :: Configure (Ninja use CC and CXX to determine the compiler)
+        cmake ^
+          -G "Ninja" ^
+          -DCMAKE_INSTALL_PREFIX=%CONDA_PREFIX%\Library ^
+          -DCMAKE_CXX_COMPILER_LAUNCHER=ccache ^
+          -DCMAKE_BUILD_TYPE=Release ^
+          -DPYTHON_SITELIB=%CONDA_PREFIX%\Lib\site-packages ^
+          -DPYTHON_EXECUTABLE=%CONDA_PREFIX%\python.exe ^
+          -DBUILD_WITH_URDF_SUPPORT=ON ^
+          -DBUILD_PYTHON_INTERFACE=ON ^
+          -DBUILD_WITH_COLLISION_SUPPORT=ON ^
+          -DBUILD_TESTING=ON ^
+          -DINSTALL_DOCUMENTATION=ON ^
+          ..
+
+        :: Build
+        cmake --build .
+        if errorlevel 1 exit 1
+
+        :: Testing
+        ctest --output-on-failure
+        if errorlevel 1 exit 1
+
+        :: Install
+        cmake --install .
+
+        :: Test Python import
+        cd ..
+        python -c "import pinocchio"
+        if errorlevel 1 exit 1
+
+  check:
+    if: always()
+    name: check-windows-conda
+
+    needs:
+    - build
+
+    runs-on: Ubuntu-latest
+
+    steps:
+    - name: Decide whether the needed jobs succeeded or failed
+      uses: re-actors/alls-green@release/v1
+      with:
+        jobs: ${{ toJSON(needs) }}
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 0f55803364..5ef06eb8d1 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -285,6 +285,15 @@ FUNCTION(PREPEND_PATH_FROM_LIST list_name path_name dest_list)
   SET(${dest_list} ${list_name_} PARENT_SCOPE)
 ENDFUNCTION(PREPEND_PATH_FROM_LIST)
 
+# Define PINOCCHIO_WINDOWS_DLL_PATH environment variable on Windows
+FUNCTION(ADD_WINDOWS_DLL_PATH_TO_TEST TEST_NAME)
+  IF(WIN32)
+    GET_TEST_PROPERTY(${TEST_NAME} ENVIRONMENT ENV_VARIABLES)
+    LIST(APPEND ENV_VARIABLES "PINOCCHIO_WINDOWS_DLL_PATH=$<TARGET_FILE_DIR:${PROJECT_NAME}>")
+    SET_TESTS_PROPERTIES(${TEST_NAME} PROPERTIES ENVIRONMENT "${ENV_VARIABLES}")
+  ENDIF()
+ENDFUNCTION()
+
 # Enforce the preprocessed version of boost::list and boost::vector
 # This information is redundant with the content of include/pinocchio/container/boost-container-limits.hpp
 # but it avoids any compilation issue.
diff --git a/bindings/python/CMakeLists.txt b/bindings/python/CMakeLists.txt
index 05dd837537..72c88be6dd 100644
--- a/bindings/python/CMakeLists.txt
+++ b/bindings/python/CMakeLists.txt
@@ -78,6 +78,8 @@ IF(BUILD_PYTHON_INTERFACE)
     SUFFIX ${PYTHON_EXT_SUFFIX}
     OUTPUT_NAME "${PYWRAP}"
     LIBRARY_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/bindings/python/${PROJECT_NAME}"
+    # On Windows, shared library are treat as binary
+    RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/bindings/python/${PROJECT_NAME}"
     )
 
   IF(UNIX)
@@ -107,6 +109,7 @@ IF(BUILD_PYTHON_INTERFACE)
     romeo_wrapper.py
     explog.py
     shortcuts.py
+    windows_dll_manager.py
     )
 
   FOREACH(python ${PYTHON_FILES})
diff --git a/bindings/python/pinocchio/__init__.py b/bindings/python/pinocchio/__init__.py
index 1354d404a4..4831c8de4e 100644
--- a/bindings/python/pinocchio/__init__.py
+++ b/bindings/python/pinocchio/__init__.py
@@ -3,9 +3,32 @@
 #
 
 import numpy
-from .pinocchio_pywrap import *
 
-from .pinocchio_pywrap import __version__, __raw_version__
+# On Windows, if pinocchio.dll is not in the same directory than
+# the .pyd, it will not be loaded.
+# We first try to load pinocchio, then, if it fail and we are on Windows:
+#  1. We add all paths inside PINOCCHIO_WINDOWS_DLL_PATH to DllDirectory
+#  2. If PINOCCHIO_WINDOWS_DLL_PATH we add the relative path from the
+#     package directory to the bin directory to DllDirectory
+# This solution is inspired from:
+#  - https://github.com/PixarAnimationStudios/OpenUSD/pull/1511/files
+#  - https://stackoverflow.com/questions/65334494/python-c-extension-packaging-dll-along-with-pyd
+# More resources on https://github.com/diffpy/pyobjcryst/issues/33
+try:
+    from .pinocchio_pywrap import *
+    from .pinocchio_pywrap import __version__, __raw_version__
+except ImportError:
+    import platform
+    if platform.system() == "Windows":
+        from .windows_dll_manager import get_dll_paths, build_directory_manager
+
+        with build_directory_manager() as dll_dir_manager:
+            for p in get_dll_paths():
+                dll_dir_manager.add_dll_directory(p)
+            from .pinocchio_pywrap import *
+            from .pinocchio_pywrap import __version__, __raw_version__
+    else:
+        raise
 
 from . import utils
 from .explog import exp, log
diff --git a/bindings/python/pinocchio/windows_dll_manager.py b/bindings/python/pinocchio/windows_dll_manager.py
new file mode 100644
index 0000000000..e718970814
--- /dev/null
+++ b/bindings/python/pinocchio/windows_dll_manager.py
@@ -0,0 +1,56 @@
+import os
+import sys
+import contextlib
+
+
+def get_dll_paths():
+    pinocchio_paths = os.getenv('PINOCCHIO_WINDOWS_DLL_PATH')
+    if pinocchio_paths is None:
+        # Standard site-packages to bin path
+        RELATIVE_DLL_PATH = "..\\..\\..\\bin"
+        return [os.path.join(os.path.dirname(__file__), RELATIVE_DLL_PATH)]
+    else:
+        return pinocchio_paths.split(os.pathsep)
+
+
+class PathManager(contextlib.AbstractContextManager):
+    """Restore PATH state after importing Python module"""
+
+    def add_dll_directory(self, dll_dir: str):
+        os.environ["PATH"] += os.pathsep + dll_dir
+
+    def __enter__(self):
+        self.old_path = os.environ["PATH"]
+        return self
+
+    def __exit__(self, *exc_details):
+        os.environ["PATH"] = self.old_path
+
+
+class DllDirectoryManager(contextlib.AbstractContextManager):
+    """Restore DllDirectory state after importing Python module"""
+
+    def add_dll_directory(self, dll_dir: str):
+        # add_dll_directory can fail on relative path and non
+        # existing path.
+        # Since we don't know all the fail criterion we just ignore
+        # thrown exception
+        try:
+            self.dll_dirs.append(os.add_dll_directory(dll_dir))
+        except OSError:
+            pass
+
+    def __enter__(self):
+        self.dll_dirs = []
+        return self
+
+    def __exit__(self, *exc_details):
+        for d in self.dll_dirs:
+            d.close()
+
+
+def build_directory_manager():
+    if sys.version_info >= (3, 8):
+        return DllDirectoryManager()
+    else:
+        return PathManager()
diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt
index 2f498e48f3..e8f6141724 100644
--- a/examples/CMakeLists.txt
+++ b/examples/CMakeLists.txt
@@ -7,6 +7,13 @@ FUNCTION(ADD_PINOCCHIO_CPP_EXAMPLE EXAMPLE)
   SET(EXAMPLE_NAME "example-cpp-${EXAMPLE_NAME}")
   ADD_UNIT_TEST(${EXAMPLE_NAME} "${EXAMPLE}.cpp")
   TARGET_LINK_LIBRARIES(${EXAMPLE_NAME} PUBLIC ${PROJECT_NAME})
+
+  # There is no RPATH in Windows, then we must use the PATH to find the DLL
+  IF(WIN32)
+    STRING(REPLACE ";" "\\\;" _PATH "$ENV{PATH}")
+    SET(ENV_VARIABLES "PATH=${_PATH}\\\;${CMAKE_BINARY_DIR}/src\\\;${CMAKE_BINARY_DIR}/bindings/python/pinocchio")
+    SET_TESTS_PROPERTIES(${EXAMPLE_NAME} PROPERTIES ENVIRONMENT "${ENV_VARIABLES}")
+  ENDIF()
 ENDFUNCTION()
 
 SET(${PROJECT_NAME}_EXAMPLES
@@ -106,7 +113,9 @@ IF(BUILD_PYTHON_INTERFACE)
   ENDIF(BUILD_WITH_OPENMP_SUPPORT)
 
   FOREACH(EXAMPLE ${${PROJECT_NAME}_PYTHON_EXAMPLES})
-    ADD_PYTHON_UNIT_TEST("example-py-${EXAMPLE}" "examples/${EXAMPLE}.py" "bindings/python")
+    SET(EXAMPLE_NAME "example-py-${EXAMPLE}")
+    ADD_PYTHON_UNIT_TEST("${EXAMPLE_NAME}" "examples/${EXAMPLE}.py" "bindings/python")
+    ADD_WINDOWS_DLL_PATH_TO_TEST(${EXAMPLE_NAME})
   ENDFOREACH(EXAMPLE ${${PROJECT_NAME}_PYTHON_EXAMPLES})
 ENDIF(BUILD_PYTHON_INTERFACE)
 
diff --git a/unittest/CMakeLists.txt b/unittest/CMakeLists.txt
index 795bb33c84..cdf30713bc 100644
--- a/unittest/CMakeLists.txt
+++ b/unittest/CMakeLists.txt
@@ -22,6 +22,14 @@ MACRO(ADD_PINOCCHIO_UNIT_TEST NAME)
 
   SET(TEST_NAME "test-cpp-${NAME}")
   ADD_UNIT_TEST(${TEST_NAME} ${NAME}.cpp)
+
+  # There is no RPATH in Windows, then we must use the PATH to find the DLL
+  IF(WIN32)
+    STRING(REPLACE ";" "\\\;" _PATH "$ENV{PATH}")
+    SET(ENV_VARIABLES "PATH=${_PATH}\\\;${CMAKE_BINARY_DIR}/src\\\;${CMAKE_BINARY_DIR}/bindings/python/pinocchio")
+    SET_TESTS_PROPERTIES(${TEST_NAME} PROPERTIES ENVIRONMENT "${ENV_VARIABLES}")
+  ENDIF()
+
   SET_TARGET_PROPERTIES(${TEST_NAME} PROPERTIES LINKER_LANGUAGE CXX)
   TARGET_INCLUDE_DIRECTORIES(${TEST_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
 
@@ -107,17 +115,22 @@ IF(BUILD_WITH_LIBPYTHON)
 
   TARGET_LINK_LIBRARIES(test-cpp-python_parser PUBLIC ${PYWRAP})
   TARGET_LINK_LIBRARIES(test-cpp-python_parser PUBLIC ${PYTHON_LIBRARIES})
-  SET(ENV_VARIABLES "PYTHONPATH=${CMAKE_BINARY_DIR}/bindings/python:$ENV{PYTHONPATH}")
+  GET_TEST_PROPERTY(test-cpp-python_parser ENVIRONMENT ENV_VARIABLES)
   IF(WIN32)
     GET_FILENAME_COMPONENT(PYTHONHOME ${PYTHON_EXECUTABLE} PATH)
     LIST(APPEND ENV_VARIABLES "PYTHONHOME=${PYTHONHOME}")
     UNSET(PYTHONHOME)
-  ENDIF(WIN32)
+
+    STRING(REPLACE ";" "\\\;" _PYTHONPATH "$ENV{PYTHONPATH}")
+    LIST(APPEND ENV_VARIABLES "PYTHONPATH=${_PYTHONPATH}\\\;${CMAKE_BINARY_DIR}/bindings/python")
+  ELSE()
+    LIST(APPEND ENV_VARIABLES "PYTHONPATH=$ENV{PYTHONPATH}:${CMAKE_BINARY_DIR}/bindings/python")
+  ENDIF()
   IF(APPLE)
     LIST(APPEND ENV_VARIABLES "LD_LIBRARY_PATH=$ENV{LD_LIBRARY_PATH}")
     LIST(APPEND ENV_VARIABLES "DYLD_LIBRARY_PATH=$ENV{DYLD_LIBRARY_PATH}")
   ENDIF(APPLE)
-  SET_PROPERTY(TEST test-cpp-python_parser PROPERTY ENVIRONMENT ${ENV_VARIABLES})
+  SET_TESTS_PROPERTIES(test-cpp-python_parser PROPERTIES ENVIRONMENT "${ENV_VARIABLES}")
   ADD_SUBDIRECTORY(python)
 ENDIF(BUILD_WITH_LIBPYTHON)
 
diff --git a/unittest/python/CMakeLists.txt b/unittest/python/CMakeLists.txt
index 2fb9fba4cf..5ac0adb7d1 100644
--- a/unittest/python/CMakeLists.txt
+++ b/unittest/python/CMakeLists.txt
@@ -78,16 +78,20 @@ SET(${PROJECT_NAME}_PYTHON_MEMORYCHECK_TESTS
   )
 
 FOREACH(TEST ${${PROJECT_NAME}_PYTHON_TESTS})
-  ADD_PYTHON_UNIT_TEST("test-py-${TEST}" "unittest/python/${TEST}.py" "bindings/python")
+  SET(TEST_NAME "test-py-${TEST}")
+  ADD_PYTHON_UNIT_TEST(${TEST_NAME} "unittest/python/${TEST}.py" "bindings/python")
+  ADD_WINDOWS_DLL_PATH_TO_TEST(${TEST_NAME})
 ENDFOREACH(TEST ${${PROJECT_NAME}_PYTHON_TESTS})
 
 MAKE_DIRECTORY("${CMAKE_CURRENT_BINARY_DIR}/serialization-data")
 
 IF(MEMORYCHECK_COMMAND AND MEMORYCHECK_COMMAND MATCHES ".*valgrind$")
   FOREACH(TEST ${${PROJECT_NAME}_PYTHON_MEMORYCHECK_TESTS})
-    ADD_PYTHON_MEMORYCHECK_UNIT_TEST("test-py-memory-${TEST}"
+    SET(TEST_NAME "test-py-memory-${TEST}")
+    ADD_PYTHON_MEMORYCHECK_UNIT_TEST(${TEST_NAME}
       "unittest/python/${TEST}.py"
       "bindings/python")
+    ADD_WINDOWS_DLL_PATH_TO_TEST(${TEST_NAME})
   ENDFOREACH()
 ELSE()
   MESSAGE(STATUS "Valgrind not found, memory checks are disabled")