diff --git a/LICENSE b/LICENSE
new file mode 100644
index 0000000..c26a5d4
--- /dev/null
+++ b/LICENSE
@@ -0,0 +1,28 @@
+BSD 3-Clause License
+
+Copyright (c) 2024, iCub Tech
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its
+   contributors may be used to endorse or promote products derived from
+   this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
diff --git a/setup.py b/setup.py
index b9394a3..1099e0c 100644
--- a/setup.py
+++ b/setup.py
@@ -1,6 +1,8 @@
-# Copyright (C) 2021 Istituto Italiano di Tecnologia (IIT). All rights reserved.
+# Copyright (C) 2006-2021 Istituto Italiano di Tecnologia (IIT)
+# All rights reserved.
+#
 # This software may be modified and distributed under the terms of the
-# GNU Lesser General Public License v2.1 or any later version.
+# BSD-3-Clause license. See the accompanying LICENSE file for details.
 
 from setuptools import setup
 
diff --git a/urdfModifiers/__init__.py b/urdfModifiers/__init__.py
index c2611b3..f2dbde8 100644
--- a/urdfModifiers/__init__.py
+++ b/urdfModifiers/__init__.py
@@ -1,6 +1,8 @@
-# Copyright (C) 2021 Istituto Italiano di Tecnologia (IIT). All rights reserved.
+# Copyright (C) 2006-2021 Istituto Italiano di Tecnologia (IIT)
+# All rights reserved.
+#
 # This software may be modified and distributed under the terms of the
-# GNU Lesser General Public License v2.1 or any later version.
+# BSD-3-Clause license. See the accompanying LICENSE file for details.
 
 from . import core
 from . import geometry
diff --git a/urdfModifiers/core/__init__.py b/urdfModifiers/core/__init__.py
index 03b5221..7ab697a 100644
--- a/urdfModifiers/core/__init__.py
+++ b/urdfModifiers/core/__init__.py
@@ -1,6 +1,8 @@
-# Copyright (C) 2021 Istituto Italiano di Tecnologia (IIT). All rights reserved.
+# Copyright (C) 2006-2021 Istituto Italiano di Tecnologia (IIT)
+# All rights reserved.
+#
 # This software may be modified and distributed under the terms of the
-# GNU Lesser General Public License v2.1 or any later version.
+# BSD-3-Clause license. See the accompanying LICENSE file for details.
 
 from . import modifier
 from . import modification
diff --git a/urdfModifiers/geometry/__init__.py b/urdfModifiers/geometry/__init__.py
index 53275e9..5d93f2d 100644
--- a/urdfModifiers/geometry/__init__.py
+++ b/urdfModifiers/geometry/__init__.py
@@ -1,5 +1,7 @@
-# Copyright (C) 2021 Istituto Italiano di Tecnologia (IIT). All rights reserved.
+# Copyright (C) 2006-2021 Istituto Italiano di Tecnologia (IIT)
+# All rights reserved.
+#
 # This software may be modified and distributed under the terms of the
-# GNU Lesser General Public License v2.1 or any later version.
+# BSD-3-Clause license. See the accompanying LICENSE file for details.
 
 from . import geometry
\ No newline at end of file
diff --git a/urdfModifiers/utils/__init__.py b/urdfModifiers/utils/__init__.py
index 826b7ef..68da0c1 100644
--- a/urdfModifiers/utils/__init__.py
+++ b/urdfModifiers/utils/__init__.py
@@ -1,5 +1,7 @@
-# Copyright (C) 2021 Istituto Italiano di Tecnologia (IIT). All rights reserved.
+# Copyright (C) 2006-2021 Istituto Italiano di Tecnologia (IIT)
+# All rights reserved.
+#
 # This software may be modified and distributed under the terms of the
-# GNU Lesser General Public License v2.1 or any later version.
+# BSD-3-Clause license. See the accompanying LICENSE file for details.
 
 from . import utils
\ No newline at end of file