diff --git a/CHANGELOG.md b/CHANGELOG.md
index 8edbc9db..18791046 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -8,6 +8,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 
 ### Added
 - Allow use of installed JRL-cmakemodule ([#446](https://github.com/stack-of-tasks/eigenpy/pull/446)
+- Support of Numpy 2.0.0b1 ([#448](https://github.com/stack-of-tasks/eigenpy/pull/448))
 
 ### Fixed
 - Fix unit test build in C++11 ([#442](https://github.com/stack-of-tasks/eigenpy/pull/442))
diff --git a/include/eigenpy/numpy-allocator.hpp b/include/eigenpy/numpy-allocator.hpp
index 61653940..4dd5f7e0 100644
--- a/include/eigenpy/numpy-allocator.hpp
+++ b/include/eigenpy/numpy-allocator.hpp
@@ -138,7 +138,12 @@ struct numpy_allocator_impl_matrix<Eigen::Ref<MatType, Options, Stride> > {
                         outer_stride = reverse_strides ? mat.innerStride()
                                                        : mat.outerStride();
 
+#if NPY_ABI_VERSION < 0x02000000
       const int elsize = call_PyArray_DescrFromType(Scalar_type_code)->elsize;
+#else
+      const int elsize =
+          PyDataType_ELSIZE(call_PyArray_DescrFromType(Scalar_type_code));
+#endif
       npy_intp strides[2] = {elsize * inner_stride, elsize * outer_stride};
 
       PyArrayObject *pyArray = (PyArrayObject *)call_PyArray_New(
@@ -204,7 +209,12 @@ struct numpy_allocator_impl_matrix<
                         outer_stride = reverse_strides ? mat.innerStride()
                                                        : mat.outerStride();
 
+#if NPY_ABI_VERSION < 0x02000000
       const int elsize = call_PyArray_DescrFromType(Scalar_type_code)->elsize;
+#else
+      const int elsize =
+          PyDataType_ELSIZE(call_PyArray_DescrFromType(Scalar_type_code));
+#endif
       npy_intp strides[2] = {elsize * inner_stride, elsize * outer_stride};
 
       PyArrayObject *pyArray = (PyArrayObject *)call_PyArray_New(
diff --git a/include/eigenpy/numpy.hpp b/include/eigenpy/numpy.hpp
index 6ab627d8..3529ec25 100644
--- a/include/eigenpy/numpy.hpp
+++ b/include/eigenpy/numpy.hpp
@@ -16,9 +16,33 @@
 #define NPY_NO_DEPRECATED_API NPY_1_7_API_VERSION
 #endif
 
+/* Allow compiling against NumPy 1.x and 2.x
+   see:
+   https://github.com/numpy/numpy/blob/afea8fd66f6bdbde855f5aff0b4e73eb0213c646/doc/source/reference/c-api/array.rst#L1224
+*/
+#if NPY_ABI_VERSION < 0x02000000
+#define PyArray_DescrProto PyArray_Descr
+#endif
+
 #include <numpy/ndarrayobject.h>
 #include <numpy/ufuncobject.h>
 
+#if NPY_ABI_VERSION < 0x02000000
+static inline PyArray_ArrFuncs* PyDataType_GetArrFuncs(PyArray_Descr* descr) {
+  return descr->f;
+}
+#endif
+
+/* PEP 674 disallow using macros as l-values
+   see : https://peps.python.org/pep-0674/
+*/
+#if PY_VERSION_HEX < 0x030900A4 && !defined(Py_SET_TYPE)
+static inline void _Py_SET_TYPE(PyObject* o, PyTypeObject* type) {
+  Py_TYPE(o) = type;
+}
+#define Py_SET_TYPE(o, type) _Py_SET_TYPE((PyObject*)(o), type)
+#endif
+
 #if defined _WIN32 || defined __CYGWIN__
 #define EIGENPY_GET_PY_ARRAY_TYPE(array) \
   call_PyArray_MinScalarType(array)->type_num
@@ -170,7 +194,7 @@ inline void call_PyArray_InitArrFuncs(PyArray_ArrFuncs* funcs) {
   PyArray_InitArrFuncs(funcs);
 }
 
-inline int call_PyArray_RegisterDataType(PyArray_Descr* dtype) {
+inline int call_PyArray_RegisterDataType(PyArray_DescrProto* dtype) {
   return PyArray_RegisterDataType(dtype);
 }
 
diff --git a/include/eigenpy/user-type.hpp b/include/eigenpy/user-type.hpp
index e66b2d9f..bcca5554 100644
--- a/include/eigenpy/user-type.hpp
+++ b/include/eigenpy/user-type.hpp
@@ -171,7 +171,8 @@ struct SpecialMethods<T, NPY_USERDEF> {
     char* srcptr = static_cast<char*>(src);
 
     PyArrayObject* py_array = static_cast<PyArrayObject*>(array);
-    PyArray_CopySwapFunc* copyswap = PyArray_DESCR(py_array)->f->copyswap;
+    PyArray_CopySwapFunc* copyswap =
+        PyDataType_GetArrFuncs(PyArray_DESCR(py_array))->copyswap;
 
     for (npy_intp i = 0; i < n; i++) {
       copyswap(dstptr, srcptr, swap, array);
@@ -189,8 +190,8 @@ struct SpecialMethods<T, NPY_USERDEF> {
       return (npy_bool)(value != ZeroValue);
     } else {
       T tmp_value;
-      PyArray_DESCR(py_array)->f->copyswap(
-          &tmp_value, ip, PyArray_ISBYTESWAPPED(py_array), array);
+      PyDataType_GetArrFuncs(PyArray_DESCR(py_array))
+          ->copyswap(&tmp_value, ip, PyArray_ISBYTESWAPPED(py_array), array);
       return (npy_bool)(tmp_value != ZeroValue);
     }
   }
diff --git a/src/numpy.cpp b/src/numpy.cpp
index 01018ba8..e758ed02 100644
--- a/src/numpy.cpp
+++ b/src/numpy.cpp
@@ -14,7 +14,12 @@ void import_numpy() {
 }
 
 int PyArray_TypeNum(PyTypeObject* type) {
-  return PyArray_TypeNumFromName(const_cast<char*>(type->tp_name));
+  PyArray_Descr* descr =
+      PyArray_DescrFromTypeObject(reinterpret_cast<PyObject*>(type));
+  if (descr == NULL) {
+    return NPY_NOTYPE;
+  }
+  return descr->type_num;
 }
 
 #if defined _WIN32 || defined __CYGWIN__
diff --git a/src/register.cpp b/src/register.cpp
index 84e84f64..1a8ce771 100644
--- a/src/register.cpp
+++ b/src/register.cpp
@@ -63,9 +63,9 @@ int Register::registerNewType(
     throw std::invalid_argument("PyType_Ready fails to initialize input type.");
   }
 
-  PyArray_Descr* descr_ptr =
-      new PyArray_Descr(*call_PyArray_DescrFromType(NPY_OBJECT));
-  PyArray_Descr& descr = *descr_ptr;
+  PyArray_DescrProto* descr_ptr = new PyArray_DescrProto();
+  Py_SET_TYPE(descr_ptr, &PyArrayDescr_Type);
+  PyArray_DescrProto& descr = *descr_ptr;
   descr.typeobj = py_type_ptr;
   descr.kind = 'V';
   descr.byteorder = '=';
@@ -98,7 +98,7 @@ int Register::registerNewType(
   PyArray_Descr* new_descr = call_PyArray_DescrFromType(code);
 
   if (PyDict_SetItemString(py_type_ptr->tp_dict, "dtype",
-                           (PyObject*)descr_ptr) < 0) {
+                           (PyObject*)new_descr) < 0) {
     throw std::invalid_argument("PyDict_SetItemString fails.");
   }