diff --git a/test/test_transforms.py b/test/test_transforms.py
index 8748a9cb1a6..090d0837585 100644
--- a/test/test_transforms.py
+++ b/test/test_transforms.py
@@ -43,6 +43,7 @@
     RewardClipping,
     RewardScaling,
     SerialEnv,
+    StepCounter,
     ToTensorImage,
     VIPTransform,
 )
@@ -62,6 +63,7 @@
     UnsqueezeTransform,
 )
 from torchrl.envs.transforms.vip import _VIPNet, VIPRewardTransform
+from torchrl.envs.utils import check_env_specs
 
 TIMEOUT = 10.0
 
@@ -1652,6 +1654,46 @@ def test_insert(self):
             assert env._observation_spec is not None
             assert env._reward_spec is not None
 
+    @pytest.mark.parametrize("device", get_available_devices())
+    @pytest.mark.parametrize("batch", [[], [4], [6, 4]])
+    @pytest.mark.parametrize("max_steps", [None, 1, 5, 50])
+    @pytest.mark.parametrize("reset_workers", [True, False])
+    def test_step_counter(self, max_steps, device, batch, reset_workers):
+        torch.manual_seed(0)
+        step_counter = StepCounter(max_steps)
+        td = TensorDict(
+            {"done": torch.zeros(*batch, 1, dtype=torch.bool)}, batch, device=device
+        )
+        if reset_workers:
+            td.set("reset_workers", torch.randn(*batch, 1) < 0)
+        step_counter.reset(td)
+        assert not torch.all(td.get("step_count"))
+        i = 0
+        while max_steps is None or i < max_steps:
+            step_counter._step(td)
+            i += 1
+            assert torch.all(td.get("step_count") == i)
+            if max_steps is None:
+                break
+        if max_steps is not None:
+            assert torch.all(td.get("step_count") == max_steps)
+            assert torch.all(td.get("done"))
+        step_counter.reset(td)
+        if reset_workers:
+            assert torch.all(
+                torch.masked_select(td.get("step_count"), td.get("reset_workers")) == 0
+            )
+            assert torch.all(
+                torch.masked_select(td.get("step_count"), ~td.get("reset_workers")) == i
+            )
+        else:
+            assert torch.all(td.get("step_count") == 0)
+
+    def test_step_counter_observation_spec(self):
+        transformed_env = TransformedEnv(ContinuousActionVecMockEnv(), StepCounter(50))
+        check_env_specs(transformed_env)
+        transformed_env.close()
+
 
 @pytest.mark.skipif(not _has_tv, reason="torchvision not installed")
 @pytest.mark.parametrize("device", get_available_devices())
diff --git a/torchrl/envs/__init__.py b/torchrl/envs/__init__.py
index 04be8e7320a..1bc51074197 100644
--- a/torchrl/envs/__init__.py
+++ b/torchrl/envs/__init__.py
@@ -26,6 +26,7 @@
     Resize,
     RewardClipping,
     RewardScaling,
+    StepCounter,
     TensorDictPrimer,
     ToTensorImage,
     Transform,
diff --git a/torchrl/envs/transforms/__init__.py b/torchrl/envs/transforms/__init__.py
index 6c682c6210b..61ee5c20d7d 100644
--- a/torchrl/envs/transforms/__init__.py
+++ b/torchrl/envs/transforms/__init__.py
@@ -24,6 +24,7 @@
     RewardClipping,
     RewardScaling,
     SqueezeTransform,
+    StepCounter,
     TensorDictPrimer,
     ToTensorImage,
     Transform,
diff --git a/torchrl/envs/transforms/transforms.py b/torchrl/envs/transforms/transforms.py
index 92185d64768..11587053295 100644
--- a/torchrl/envs/transforms/transforms.py
+++ b/torchrl/envs/transforms/transforms.py
@@ -23,6 +23,7 @@
     DEVICE_TYPING,
     TensorSpec,
     UnboundedContinuousTensorSpec,
+    UnboundedDiscreteTensorSpec,
 )
 from torchrl.envs.common import EnvBase, make_tensordict
 from torchrl.envs.transforms import functional as F
@@ -2476,3 +2477,79 @@ def __repr__(self) -> str:
             f"{self.__class__.__name__}(decay={self.decay:4.4f},"
             f"eps={self.eps:4.4f}, keys={self.in_keys})"
         )
+
+
+class StepCounter(Transform):
+    """Counts the steps from a reset and sets the done state to True after a certain number of steps.
+
+    Args:
+        max_steps (:obj:`int`, optional): a positive integer that indicates the maximum number of steps to take before
+        setting the done state to True. If set to None (the default value), the environment will run indefinitely until
+        the done state is manually set by the user or by the environment itself. However, the step count will still be
+        incremented on each call to step() into the `step_count` attribute.
+    """
+
+    invertible = False
+    inplace = True
+
+    def __init__(self, max_steps: Optional[int] = None):
+        if max_steps is not None and max_steps < 1:
+            raise ValueError("max_steps should have a value greater or equal to one.")
+        self.max_steps = max_steps
+        super().__init__([])
+
+    def reset(self, tensordict: TensorDictBase) -> TensorDictBase:
+        workers = tensordict.get(
+            "reset_workers",
+            default=torch.ones(
+                *tensordict.batch_size, 1, dtype=torch.bool, device=tensordict.device
+            ),
+        )
+        tensordict.set(
+            "step_count",
+            (~workers)
+            * tensordict.get(
+                "step_count",
+                torch.zeros(
+                    *tensordict.batch_size,
+                    1,
+                    dtype=torch.int64,
+                    device=tensordict.device,
+                ),
+            ),
+        )
+        return tensordict
+
+    def _step(self, tensordict: TensorDictBase) -> TensorDictBase:
+        next_step_count = (
+            tensordict.get(
+                "step_count",
+                torch.zeros(
+                    *tensordict.batch_size,
+                    1,
+                    dtype=torch.int64,
+                    device=tensordict.device,
+                ),
+            )
+            + 1
+        )
+        tensordict.set("step_count", next_step_count)
+        if self.max_steps is not None:
+            tensordict.set(
+                "done",
+                tensordict.get("done") | next_step_count >= self.max_steps,
+            )
+        return tensordict
+
+    def transform_observation_spec(
+        self, observation_spec: CompositeSpec
+    ) -> CompositeSpec:
+        if not isinstance(observation_spec, CompositeSpec):
+            raise ValueError(
+                f"observation_spec was expected to be of type CompositeSpec. Got {type(observation_spec)} instead."
+            )
+        observation_spec["step_count"] = UnboundedDiscreteTensorSpec(
+            shape=torch.Size([1]), dtype=torch.int64, device=observation_spec.device
+        )
+        observation_spec["step_count"].space.minimum = 0
+        return observation_spec