diff --git a/pkgs/development/python-modules/filterpy/default.nix b/pkgs/development/python-modules/filterpy/default.nix
new file mode 100644
index 000000000000..47f2c083d8a3
--- /dev/null
+++ b/pkgs/development/python-modules/filterpy/default.nix
@@ -0,0 +1,35 @@
+{ stdenv
+, buildPythonPackage
+, fetchPypi
+, numpy
+, scipy
+, matplotlib
+, pytest
+}:
+
+buildPythonPackage rec {
+  version = "1.4.5";
+  pname = "filterpy";
+
+  src = fetchPypi {
+    inherit pname version;
+    extension = "zip";
+    sha256 = "4f2a4d39e4ea601b9ab42b2db08b5918a9538c168cff1c6895ae26646f3d73b1";
+  };
+
+  checkInputs = [ pytest ];
+  propagatedBuildInputs = [ numpy scipy matplotlib ];
+
+  # single test fails (even on master branch of repository)
+  # project does not use CI
+  checkPhase = ''
+    pytest --ignore=filterpy/common/tests/test_discretization.py
+  '';
+
+  meta = with stdenv.lib; {
+    homepage = https://github.com/rlabbe/filterpy;
+    description = "Kalman filtering and optimal estimation library";
+    license = licenses.mit;
+    maintainers = [ maintainers.costrouc ];
+  };
+}
diff --git a/pkgs/top-level/python-packages.nix b/pkgs/top-level/python-packages.nix
index 8012e6e11e5c..b8677cf5eeae 100644
--- a/pkgs/top-level/python-packages.nix
+++ b/pkgs/top-level/python-packages.nix
@@ -302,6 +302,8 @@ in {
 
   fido2 = callPackage ../development/python-modules/fido2 {  };
 
+  filterpy = callPackage ../development/python-modules/filterpy { };
+
   fire = callPackage ../development/python-modules/fire { };
 
   fuse = callPackage ../development/python-modules/fuse-python { fuse = pkgs.fuse; };