diff --git a/CHANGELOG.md b/CHANGELOG.md
index b5fae3c..7768b70 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -14,6 +14,7 @@ All notable changes to this project will be documented in this file.
 - Description: SO ARM 101 (MJCF) (thanks to @haixuantao)
 - Description: SO ARM 101 (URDF) (thanks to @haixuantao)
 - Description: WL P311D (URDF)
+- Description: WL P311E (URDF)
 
 ### Changed
 
diff --git a/README.md b/README.md
index 4368565..714869d 100644
--- a/README.md
+++ b/README.md
@@ -306,6 +306,7 @@ The DOF column denotes the number of actuated degrees of freedom.
 | `rsk_mj_description`          | RSK Omnidirectional   | Robot Soccer Kit         | MJCF       | MIT     |
 | `upkie_description`           | Upkie                 | Stéphane Caron           | URDF       | Apache-2.0 |
 | `wl_p311d_description`        | WL P311D              | LimX Dynamics            | URDF       | [Apache-2.0](https://github.com/limxdynamics/robot-description/blob/a097533372a08298d45af391cbdfc2fd2dc3da6f/LICENSE) |
+| `wl_p311e_description`        | WL P311E              | LimX Dynamics            | URDF       | [Apache-2.0](https://github.com/limxdynamics/robot-description/blob/a097533372a08298d45af391cbdfc2fd2dc3da6f/LICENSE) |
 
 ## Contributing
 
diff --git a/robot_descriptions/_descriptions.py b/robot_descriptions/_descriptions.py
index ed047f0..875b6ec 100644
--- a/robot_descriptions/_descriptions.py
+++ b/robot_descriptions/_descriptions.py
@@ -229,6 +229,7 @@ def has_urdf(self) -> bool:
     "viper_mj_description": Description(Format.MJCF, tags={"arm"}),
     "widow_mj_description": Description(Format.MJCF, tags={"arm"}),
     "wl_p311d_description": Description(Format.URDF, tags={"quadruped"}),
+    "wl_p311e_description": Description(Format.URDF, tags={"quadruped"}),
     "xarm7_mj_description": Description(Format.MJCF, tags={"arm"}),
     "yam_mj_description": Description(Format.MJCF, tags={"arm"}),
     "yumi_description": Description(Format.URDF, tags={"dual_arm"}),
diff --git a/robot_descriptions/wl_p311d_description.py b/robot_descriptions/wl_p311d_description.py
index f65fd46..e80d0b0 100644
--- a/robot_descriptions/wl_p311d_description.py
+++ b/robot_descriptions/wl_p311d_description.py
@@ -2,7 +2,7 @@
 # -*- coding: utf-8 -*-
 #
 # SPDX-License-Identifier: Apache-2.0
-# Copyright 2022 Stéphane Caron
+# Copyright 2025 Inria
 
 """WL P311D description."""
 
diff --git a/robot_descriptions/wl_p311e_description.py b/robot_descriptions/wl_p311e_description.py
new file mode 100644
index 0000000..65b0faa
--- /dev/null
+++ b/robot_descriptions/wl_p311e_description.py
@@ -0,0 +1,21 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+#
+# SPDX-License-Identifier: Apache-2.0
+# Copyright 2025 Inria
+
+"""WL P311E description."""
+
+from os import getenv as _getenv
+from os import path as _path
+
+from ._cache import clone_to_cache as _clone_to_cache
+
+REPOSITORY_PATH: str = _clone_to_cache(
+    "limxdynamics_robot-description",
+    commit=_getenv("ROBOT_DESCRIPTION_COMMIT", None),
+)
+
+PACKAGE_PATH: str = _path.join(REPOSITORY_PATH, "wheellegged", "WL_P311E")
+
+URDF_PATH: str = _path.join(PACKAGE_PATH, "urdf", "robot.urdf")