diff --git a/.github/workflows/ci_cd.yml b/.github/workflows/ci_cd.yml
index 354892335..a26b0ed23 100644
--- a/.github/workflows/ci_cd.yml
+++ b/.github/workflows/ci_cd.yml
@@ -15,11 +15,12 @@ jobs:
 
     steps:
 
-      - uses: actions/checkout@master
-      - run: git fetch --prune --unshallow
+      - uses: actions/checkout@v3
+        with:
+          fetch-depth: 0
 
       - name: Set up Python
-        uses: actions/setup-python@v2
+        uses: actions/setup-python@v4
         with:
           python-version: 3.8
 
@@ -32,14 +33,14 @@ jobs:
       - name: Inspect dist folder
         run: ls -lah dist/
 
-      - name: Check wheel's abi and platform tag
+      - name: Check wheel's abi and platform tags
         run: test $(find dist/ -name *-none-any.whl | wc -l) -gt 0
 
       - name: Run twine check
         run: twine check dist/*
 
       - name: Upload artifacts
-        uses: actions/upload-artifact@v2
+        uses: actions/upload-artifact@v3
         with:
           path: dist/*
           name: dist
@@ -65,12 +66,12 @@ jobs:
     steps:
 
       - name: Set up Python
-        uses: actions/setup-python@v2
+        uses: actions/setup-python@v4
         with:
           python-version: ${{ matrix.python }}
 
       - name: Download Python packages
-        uses: actions/download-artifact@v2
+        uses: actions/download-artifact@v3
         with:
           path: dist
           name: dist
@@ -81,3 +82,30 @@ jobs:
 
       - name: Import the package
         run: python -c "import jaxsim"
+
+  publish:
+    name: Publish to PyPI
+    needs: test
+    runs-on: ubuntu-22.04
+
+    steps:
+
+      - name: Download Python packages
+        uses: actions/download-artifact@v3
+        with:
+          path: dist
+          name: dist
+
+      - name: Inspect dist folder
+        run: ls -lah dist/
+
+      - name: Publish to PyPI
+        if: |
+          github.repository == 'ami-iit/jaxsim' &&
+          ((github.event_name == 'push' && github.ref == 'refs/heads/main') ||
+           (github.event_name == 'release'))
+        uses: pypa/gh-action-pypi-publish@release/v1
+        with:
+          user: __token__
+          password: ${{ secrets.PYPI_TOKEN }}
+          skip_existing: true
diff --git a/README.md b/README.md
index ed012cb8a..91a726390 100644
--- a/README.md
+++ b/README.md
@@ -32,11 +32,11 @@ Planned features:
 You can install the project with [`pypa/pip`][pip], preferably in a [virtual environment][venv]:
 
 ```bash
-pip install "jaxsim @ git+https://github.com/ami-iit/jaxsim"
+pip install jaxsim
 ```
 
 Have a look to [`setup.cfg`](setup.cfg) for a complete list of optional dependencies.
-You can install all of them specifying `jaxsim[all]`.
+You can install all of them by specifying `jaxsim[all]`.
 
 **Note:** if you need GPU support, please follow the official [installation instruction][jax_gpu] of JAX.
 
diff --git a/setup.cfg b/setup.cfg
index 48055a12a..b23f5c3e4 100644
--- a/setup.cfg
+++ b/setup.cfg
@@ -62,7 +62,7 @@ install_requires =
     jaxlie
     jax_dataclasses >= 1.2.2, < 1.4.0
     pptree
-    rod @ git+https://github.com/ami-iit/rod
+    rod
     scipy
 
 [options.packages.find]