diff --git a/.github/workflows/matlab.yml b/.github/workflows/matlab.yml
index a828b7f653..b9c93f788b 100644
--- a/.github/workflows/matlab.yml
+++ b/.github/workflows/matlab.yml
@@ -19,7 +19,7 @@ jobs:
       fail-fast: false
       matrix:
         os: [ubuntu-22.04, windows-latest, macos-13]
-        matlab_version: [R2022a, R2022b, R2023a]
+        matlab_version: [R2023b, R2024a]
 
     steps:
     - uses: actions/checkout@v2
@@ -27,7 +27,7 @@ jobs:
     - uses: conda-incubator/setup-miniconda@v3
       with:
         miniforge-version: latest
-        environment-file: ci_env.yml
+        environment-file: ci_env_matlab.yml
         channels: conda-forge
 
     - name: Setup MATLAB
@@ -54,6 +54,12 @@ jobs:
       run: |
         conda install libblas=*=*netlib
 
+    # Workaround for https://github.com/robotology/idyntree/issues/1109
+    - name: Install libxml2 2.10.* for MATLAB compat [Conda/Windows]
+      if: contains(matrix.os, 'windows')
+      run: |
+        conda install libxml2=2.10.*
+
     # workaround for https://github.com/robotology/robotology-superbuild/issues/64
     # and https://github.com/robotology/idyntree/issues/995
     - name: Do not use MATLAB's stdc++ to avoid incompatibilities with other libraries
@@ -72,7 +78,7 @@ jobs:
       run: |
         mkdir build
         cd build
-        cmake -GNinja -DCMAKE_INSTALL_PREFIX=${CONDA_PREFIX} -DCMAKE_BUILD_TYPE=Release -DMATLAB_FIND_DEBUG:BOOL=ON -DIDYNTREE_USES_MATLAB:BOOL=ON -DBUILD_TESTING:BOOL=ON -DIDYNTREE_USES_ASSIMP:BOOL=ON -DIDYNTREE_USES_IPOPT:BOOL=ON -DIDYNTREE_USES_IRRLICHT:BOOL=ON -DIDYNTREE_USES_YARP:BOOL=OFF -DIDYNTREE_USES_ICUB_MAIN:BOOL=OFF -DIDYNTREE_USES_OSQPEIGEN:BOOL=ON ..
+        cmake -GNinja -DCMAKE_INSTALL_PREFIX=${CONDA_PREFIX} -DCMAKE_BUILD_TYPE=Release -DMATLAB_FIND_DEBUG:BOOL=ON -DIDYNTREE_USES_MATLAB:BOOL=ON -DBUILD_TESTING:BOOL=ON -DIDYNTREE_USES_ASSIMP:BOOL=ON -DIDYNTREE_USES_IPOPT:BOOL=ON -DIDYNTREE_USES_IRRLICHT:BOOL=OFF -DIDYNTREE_USES_YARP:BOOL=OFF -DIDYNTREE_USES_ICUB_MAIN:BOOL=OFF -DIDYNTREE_USES_OSQPEIGEN:BOOL=OFF ..
 
     - name: Configure [Conda - Windows]
       shell: cmd /C CALL {0}
@@ -80,7 +86,7 @@ jobs:
       run: |
         mkdir build
         cd build
-        cmake  -GNinja -DCMAKE_INSTALL_PREFIX=%CONDA_PREFIX%\Library -DCMAKE_BUILD_TYPE=Release -DMATLAB_FIND_DEBUG:BOOL=ON -DIDYNTREE_USES_MATLAB:BOOL=ON -DBUILD_TESTING:BOOL=ON -DIDYNTREE_USES_ASSIMP:BOOL=ON -DIDYNTREE_USES_IPOPT:BOOL=ON -DIDYNTREE_USES_IRRLICHT:BOOL=ON -DIDYNTREE_USES_YARP:BOOL=OFF -DIDYNTREE_USES_ICUB_MAIN:BOOL=OFF -DIDYNTREE_USES_OSQPEIGEN:BOOL=ON ..
+        cmake  -GNinja -DCMAKE_INSTALL_PREFIX=%CONDA_PREFIX%\Library -DCMAKE_BUILD_TYPE=Release -DMATLAB_FIND_DEBUG:BOOL=ON -DIDYNTREE_USES_MATLAB:BOOL=ON -DBUILD_TESTING:BOOL=ON -DIDYNTREE_USES_ASSIMP:BOOL=ON -DIDYNTREE_USES_IPOPT:BOOL=ON -DIDYNTREE_USES_IRRLICHT:BOOL=OFF -DIDYNTREE_USES_YARP:BOOL=OFF -DIDYNTREE_USES_ICUB_MAIN:BOOL=OFF -DIDYNTREE_USES_OSQPEIGEN:BOOL=OFF ..
 
     - name: Build [Conda - Windows]
       shell: cmd /C CALL {0}
diff --git a/ci_env_matlab.yml b/ci_env_matlab.yml
new file mode 100644
index 0000000000..d75abd6827
--- /dev/null
+++ b/ci_env_matlab.yml
@@ -0,0 +1,19 @@
+name: idyntreematlabdev
+channels:
+  - conda-forge
+dependencies:
+  - cmake 
+  - cxx-compiler
+  - make 
+  - ninja
+  - pkg-config 
+  - eigen
+  # Workaround for https://github.com/robotology/idyntree/issues/1251
+  - libxml2=2.10.*
+  - assimp
+  - ipopt
+  - swig
+  - pybind11
+  - python
+  - numpy 
+  - osqp-eigen