diff --git a/src/api/lovr.h b/src/api/lovr.h
index 19995528..726a611f 100644
--- a/src/api/lovr.h
+++ b/src/api/lovr.h
@@ -17,6 +17,7 @@ extern const luaL_Reg lovrAudio[];
 extern const luaL_Reg lovrBoxShape[];
 extern const luaL_Reg lovrCapsuleShape[];
 extern const luaL_Reg lovrController[];
+extern const luaL_Reg lovrCylinderShape[];
 extern const luaL_Reg lovrBlob[];
 extern const luaL_Reg lovrBody[];
 extern const luaL_Reg lovrEvent[];
diff --git a/src/api/physics.c b/src/api/physics.c
index c5f07085..4517213c 100644
--- a/src/api/physics.c
+++ b/src/api/physics.c
@@ -11,6 +11,7 @@ int l_lovrPhysicsInit(lua_State* L) {
   luax_extendtype(L, "Shape", "SphereShape", lovrShape, lovrSphereShape);
   luax_extendtype(L, "Shape", "BoxShape", lovrShape, lovrBoxShape);
   luax_extendtype(L, "Shape", "CapsuleShape", lovrShape, lovrCapsuleShape);
+  luax_extendtype(L, "Shape", "CylinderShape", lovrShape, lovrCylinderShape);
 
   map_init(&ShapeTypes);
   map_set(&ShapeTypes, "sphere", SHAPE_SPHERE);
@@ -54,11 +55,19 @@ int l_lovrPhysicsNewCapsuleShape(lua_State* L) {
   return 1;
 }
 
+int l_lovrPhysicsNewCylinderShape(lua_State* L) {
+  float radius = luaL_optnumber(L, 1, 1.f);
+  float length = luaL_optnumber(L, 2, 1.f);
+  luax_pushtype(L, CylinderShape, lovrCylinderShapeCreate(radius, length));
+  return 1;
+}
+
 const luaL_Reg lovrPhysics[] = {
   { "newWorld", l_lovrPhysicsNewWorld },
   { "newBody", l_lovrPhysicsNewBody },
   { "newSphereShape", l_lovrPhysicsNewSphereShape },
   { "newBoxShape", l_lovrPhysicsNewBoxShape },
   { "newCapsuleShape", l_lovrPhysicsNewCapsuleShape },
+  { "newCylinderShape", l_lovrPhysicsNewCylinderShape },
   { NULL, NULL }
 };
diff --git a/src/api/types/shapes.c b/src/api/types/shapes.c
index c3ff42f8..b581ec8e 100644
--- a/src/api/types/shapes.c
+++ b/src/api/types/shapes.c
@@ -259,3 +259,37 @@ const luaL_Reg lovrCapsuleShape[] = {
   { "setLength", l_lovrCapsuleShapeSetLength },
   { NULL, NULL }
 };
+
+int l_lovrCylinderShapeGetRadius(lua_State* L) {
+  CylinderShape* cylinder = luax_checktype(L, 1, CylinderShape);
+  lua_pushnumber(L, lovrCylinderShapeGetRadius(cylinder));
+  return 1;
+}
+
+int l_lovrCylinderShapeSetRadius(lua_State* L) {
+  CylinderShape* cylinder = luax_checktype(L, 1, CylinderShape);
+  float radius = luaL_checknumber(L, 2);
+  lovrCylinderShapeSetRadius(cylinder, radius);
+  return 0;
+}
+
+int l_lovrCylinderShapeGetLength(lua_State* L) {
+  CylinderShape* cylinder = luax_checktype(L, 1, CylinderShape);
+  lua_pushnumber(L, lovrCylinderShapeGetLength(cylinder));
+  return 1;
+}
+
+int l_lovrCylinderShapeSetLength(lua_State* L) {
+  CylinderShape* cylinder = luax_checktype(L, 1, CylinderShape);
+  float length = luaL_checknumber(L, 2);
+  lovrCylinderShapeSetLength(cylinder, length);
+  return 0;
+}
+
+const luaL_Reg lovrCylinderShape[] = {
+  { "getRadius", l_lovrCylinderShapeGetRadius },
+  { "setRadius", l_lovrCylinderShapeSetRadius },
+  { "getLength", l_lovrCylinderShapeGetLength },
+  { "setLength", l_lovrCylinderShapeSetLength },
+  { NULL, NULL }
+};
diff --git a/src/physics/physics.c b/src/physics/physics.c
index 817ddb2f..37b3f7c8 100644
--- a/src/physics/physics.c
+++ b/src/physics/physics.c
@@ -411,3 +411,33 @@ float lovrCapsuleShapeGetLength(CapsuleShape* capsule) {
 void lovrCapsuleShapeSetLength(CapsuleShape* capsule, float length) {
   dGeomCapsuleSetParams(capsule->id, lovrCapsuleShapeGetRadius(capsule), length);
 }
+
+CylinderShape* lovrCylinderShapeCreate(float radius, float length) {
+  CylinderShape* cylinder = lovrAlloc(sizeof(CylinderShape), lovrShapeDestroy);
+  if (!cylinder) return NULL;
+
+  cylinder->type = SHAPE_CYLINDER;
+  cylinder->id = dCreateCylinder(0, radius, length);
+
+  return cylinder;
+}
+
+float lovrCylinderShapeGetRadius(CylinderShape* cylinder) {
+  float radius, length;
+  dGeomCylinderGetParams(cylinder->id, &radius, &length);
+  return radius;
+}
+
+void lovrCylinderShapeSetRadius(CylinderShape* cylinder, float radius) {
+  dGeomCylinderSetParams(cylinder->id, radius, lovrCylinderShapeGetLength(cylinder));
+}
+
+float lovrCylinderShapeGetLength(CylinderShape* cylinder) {
+  float radius, length;
+  dGeomCylinderGetParams(cylinder->id, &radius, &length);
+  return length;
+}
+
+void lovrCylinderShapeSetLength(CylinderShape* cylinder, float length) {
+  dGeomCylinderSetParams(cylinder->id, lovrCylinderShapeGetRadius(cylinder), length);
+}
diff --git a/src/physics/physics.h b/src/physics/physics.h
index c427a929..e18cc313 100644
--- a/src/physics/physics.h
+++ b/src/physics/physics.h
@@ -30,6 +30,7 @@ typedef struct {
 typedef Shape SphereShape;
 typedef Shape BoxShape;
 typedef Shape CapsuleShape;
+typedef Shape CylinderShape;
 
 void lovrPhysicsInit();
 void lovrPhysicsDestroy();
@@ -109,3 +110,9 @@ float lovrCapsuleShapeGetRadius(CapsuleShape* capsule);
 void lovrCapsuleShapeSetRadius(CapsuleShape* capsule, float radius);
 float lovrCapsuleShapeGetLength(CapsuleShape* capsule);
 void lovrCapsuleShapeSetLength(CapsuleShape* capsule, float length);
+
+CylinderShape* lovrCylinderShapeCreate(float radius, float length);
+float lovrCylinderShapeGetRadius(CylinderShape* cylinder);
+void lovrCylinderShapeSetRadius(CylinderShape* cylinder, float radius);
+float lovrCylinderShapeGetLength(CylinderShape* cylinder);
+void lovrCylinderShapeSetLength(CylinderShape* cylinder, float length);