diff --git a/doc/index.rst b/doc/index.rst
index 2acbf7ba..430c4cc8 100644
--- a/doc/index.rst
+++ b/doc/index.rst
@@ -12,6 +12,7 @@
    modeling
    XMLreference
    programming
+   models
    APIreference
    python
    unity
diff --git a/doc/models.rst b/doc/models.rst
new file mode 100644
index 00000000..f28fd7a0
--- /dev/null
+++ b/doc/models.rst
@@ -0,0 +1,57 @@
+======
+Models
+======
+
+.. _Menagerie:
+
+MuJoCo Menagerie
+----------------
+
+Menagerie is a collection of high-quality simulation models for MuJoCo, curated
+by DeepMind.
+
+For more information, visit the `Menagerie repository <https://github.com/deepmind/mujoco_menagerie>`__.
+
+Bipeds & Quadrupeds
+^^^^^^^^^^^^^^^^^^^
+
+.. list-table::
+   :header-rows: 1
+
+   * - Model
+     - Preview
+   * - `Agility Cassie <https://github.com/deepmind/mujoco_menagerie/agility_cassie>`_
+     - .. youtube:: rcdsAdwNhtc
+   * - `Unitree A1 <https://github.com/deepmind/mujoco_menagerie/unitree_a1>`_
+     - .. youtube:: paQMrMtnTtc
+   * - `Anybotics ANYmal B <https://github.com/deepmind/mujoco_menagerie/anybotics_anymal_b>`_
+     - .. youtube:: fRHau-PMGgM
+   * - `Anybotics ANYmal C <https://github.com/deepmind/mujoco_menagerie/anybotics_anymal_c>`_
+     - .. youtube:: v04uJWBLwFQ
+
+Grippers & Hands
+^^^^^^^^^^^^^^^^
+
+.. list-table::
+   :header-rows: 1
+
+   * - Model
+     - Preview
+   * - `Shadow E3M5 <https://github.com/deepmind/mujoco_menagerie/shadow_hand>`_
+     - .. youtube:: wi_zJzRm8Ic
+   * - `Robotiq 2F-85 <https://github.com/deepmind/mujoco_menagerie/robotiq_2f85>`_
+     - .. youtube:: yYm9fLj32Xw
+
+Arms
+^^^^
+
+.. list-table::
+   :header-rows: 1
+
+   * - Model
+     - Preview
+   * - `Franka Emika Panda <https://github.com/deepmind/mujoco_menagerie/franka_emika_panda>`_
+     - .. youtube:: H5zSrWcJlGs
+   * - `Universal Robots UR5e <https://github.com/deepmind/mujoco_menagerie/universal_robots_ur5e>`_
+     - .. youtube:: gAqwNeY0juo
+