diff --git a/fastcdr.pc.in b/fastcdr.pc.in
new file mode 100644
index 00000000..6941c7b5
--- /dev/null
+++ b/fastcdr.pc.in
@@ -0,0 +1,12 @@
+prefix=@CMAKE_INSTALL_PREFIX@
+includedir=@includedir_for_pc_file@
+libdir=@libdir_for_pc_file@
+
+Name: fastcdr
+Description: C++ library for serialize using CDR serialization
+URL: https://github.com/eProsima/Fast-CDR
+Version: @PROJECT_VERSION@
+
+Cflags: -I${includedir} -DFASTCDR_DYN_LINK
+Cflags.private: -UFASTCDR_DYN_LINK -DFASTCDR_STATIC_LINK
+Libs: -L${libdir} -lfastcdr
diff --git a/src/cpp/CMakeLists.txt b/src/cpp/CMakeLists.txt
index 512b7e1e..cfdd79a0 100644
--- a/src/cpp/CMakeLists.txt
+++ b/src/cpp/CMakeLists.txt
@@ -195,3 +195,17 @@ install(FILES ${PROJECT_BINARY_DIR}/cmake/config/${PROJECT_NAME}-config.cmake
     DESTINATION ${INSTALL_DESTINATION_PATH}
     COMPONENT cmake
     )
+
+###############################################################################
+# Create pkg-config file
+###############################################################################
+cmake_path(APPEND includedir_for_pc_file "\${prefix}" "${CMAKE_INSTALL_INCLUDEDIR}")
+cmake_path(APPEND libdir_for_pc_file "\${prefix}" "${CMAKE_INSTALL_LIBDIR}")
+configure_file(
+    "${PROJECT_SOURCE_DIR}/fastcdr.pc.in"
+    "${PROJECT_BINARY_DIR}/fastcdr.pc"
+    @ONLY)
+install(FILES "${PROJECT_BINARY_DIR}/fastcdr.pc"
+    DESTINATION "${CMAKE_INSTALL_LIBDIR}/pkgconfig"
+    COMPONENT pkgconfig
+    )