diff --git a/.github/workflows/conda/environment_all.yml b/.github/workflows/conda/environment_all.yml
index eac1ec0fa..5d8e21c5e 100644
--- a/.github/workflows/conda/environment_all.yml
+++ b/.github/workflows/conda/environment_all.yml
@@ -4,7 +4,7 @@ channels:
 dependencies:
   - eigen
   - cmake
-  - numpy<2.0
+  - numpy
   - pkg-config
   - boost
   - ccache
diff --git a/CHANGELOG.md b/CHANGELOG.md
index 66562df51..291eac761 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -14,6 +14,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 - Add more general visitor `GenericMapPythonVisitor` for map types test `boost::unordered_map<std::string, int>` ([#504](https://github.com/stack-of-tasks/eigenpy/pull/504))
 - Support for non-[default-contructible](https://en.cppreference.com/w/cpp/named_req/DefaultConstructible) types in map types ([#504](https://github.com/stack-of-tasks/eigenpy/pull/504))
 - Add type_info helpers ([#502](https://github.com/stack-of-tasks/eigenpy/pull/502))
+- Add NumPy 2 support ([#496](https://github.com/stack-of-tasks/eigenpy/pull/496))
 
 ### Changed
 
diff --git a/include/eigenpy/numpy.hpp b/include/eigenpy/numpy.hpp
index f5aee0199..f74349dd8 100644
--- a/include/eigenpy/numpy.hpp
+++ b/include/eigenpy/numpy.hpp
@@ -5,12 +5,17 @@
 #ifndef __eigenpy_numpy_hpp__
 #define __eigenpy_numpy_hpp__
 
-#include "eigenpy/fwd.hpp"
+#include "eigenpy/config.hpp"
 
 #ifndef PY_ARRAY_UNIQUE_SYMBOL
 #define PY_ARRAY_UNIQUE_SYMBOL EIGENPY_ARRAY_API
 #endif
 
+// For compatibility with Numpy 2.x
+// See
+// https://numpy.org/devdocs/reference/c-api/array.html#c.NPY_API_SYMBOL_ATTRIBUTE
+#define NPY_API_SYMBOL_ATTRIBUTE EIGENPY_DLLAPI
+
 #include <numpy/numpyconfig.h>
 #ifdef NPY_1_8_API_VERSION
 #define NPY_NO_DEPRECATED_API NPY_1_7_API_VERSION
@@ -50,6 +55,8 @@ static inline void _Py_SET_TYPE(PyObject* o, PyTypeObject* type) {
 #define EIGENPY_GET_PY_ARRAY_TYPE(array) PyArray_MinScalarType(array)->type_num
 #endif
 
+#include <complex>
+
 namespace eigenpy {
 void EIGENPY_DLLAPI import_numpy();
 int EIGENPY_DLLAPI PyArray_TypeNum(PyTypeObject* type);