diff --git a/CHANGELOG.md b/CHANGELOG.md
index 6bc5f2d8..1e658fa1 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -7,9 +7,11 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 ## [Unreleased]
 
 ### Changed
-
 - Remove `accelerate.hpp` header that clash with Accelerate.hpp in non case sensitive OS ([#593](https://github.com/stack-of-tasks/eigenpy/pull/593)
-  We don't consider it an API break since this header was rarely used.
+  We don't consider it an API break since this header was rarely used.
+
+### Added
+- Support for Python slice, tuple and list indexing for `std::vector` bindings ([#592](https://github.com/stack-of-tasks/eigenpy/pull/592))
 
 ## [3.12.0] - 2025-08-12
 
diff --git a/include/eigenpy/std-vector.hpp b/include/eigenpy/std-vector.hpp
index f2cf821e..278f942f 100644
--- a/include/eigenpy/std-vector.hpp
+++ b/include/eigenpy/std-vector.hpp
@@ -1,5 +1,6 @@
 ///
 /// Copyright (c) 2016-2024 CNRS INRIA
+/// Copyright (c) 2025-2025 Heriot-Watt University
 /// This file was taken from Pinocchio (header
 /// <pinocchio/bindings/python/utils/std-vector.hpp>)
 ///
@@ -84,11 +85,14 @@ struct overload_base_get_item_for_std_vector
 
   template <class Class>
   void visit(Class &cl) const {
-    cl.def("__getitem__", &base_get_item);
+    cl.def("__getitem__", &base_get_item_int)
+        .def("__getitem__", &base_get_item_slice)
+        .def("__getitem__", &base_get_item_list)
+        .def("__getitem__", &base_get_item_tuple);
   }
 
  private:
-  static boost::python::object base_get_item(
+  static boost::python::object base_get_item_int(
       boost::python::back_reference<Container &> container, PyObject *i_) {
     index_type idx = convert_index(container.get(), i_);
     typename Container::iterator i = container.get().begin();
@@ -104,6 +108,83 @@ struct overload_base_get_item_for_std_vector
     return bp::object(bp::handle<>(convert(*i)));
   }
 
+  static boost::python::object base_get_item_slice(
+      boost::python::back_reference<Container &> container,
+      boost::python::slice slice) {
+    bp::list out;
+    try {
+      auto rng =
+          slice.get_indices(container.get().begin(), container.get().end());
+      // rng.start, rng.stop are iterators; rng.step is int; [start, stop] is
+      // closed
+      typename bp::to_python_indirect<value_type &,
+                                      bp::detail::make_reference_holder>
+          convert;
+      // forward or backward
+      for (typename Container::iterator it = rng.start;;
+           std::advance(it, rng.step)) {
+        out.append(bp::object(bp::handle<>(convert(*it))));
+        if (it == rng.stop) break;  // closed interval, include stop
+      }
+    } catch (const std::invalid_argument &) {
+      // Boost.Python specifies empty ranges throw invalid_argument.
+      // Return [] (matches Python's behavior for empty slices).
+      return bp::list();
+    }
+    return out;
+  }
+
+  static bp::object base_get_item_list(bp::back_reference<Container &> c,
+                                       bp::list idxs) {
+    const Py_ssize_t m = bp::len(idxs);
+    bp::list out;
+    for (Py_ssize_t k = 0; k < m; ++k) {
+      bp::object obj = idxs[k];
+      bp::extract<long> ei(obj);
+      if (!ei.check()) {
+        PyErr_SetString(PyExc_TypeError, "indices must be integers");
+        bp::throw_error_already_set();
+      }
+      auto idx = normalize_index(c.get().size(), ei());
+      out.append(elem_ref(c.get(), idx));
+    }
+    return out;
+  }
+
+  static bp::object base_get_item_tuple(bp::back_reference<Container &> c,
+                                        bp::tuple idxs) {
+    const Py_ssize_t m = bp::len(idxs);
+    bp::list out;
+    for (Py_ssize_t k = 0; k < m; ++k) {
+      bp::object obj = idxs[k];
+      bp::extract<long> ei(obj);
+      if (!ei.check()) {
+        PyErr_SetString(PyExc_TypeError, "indices must be integers");
+        bp::throw_error_already_set();
+      }
+      auto idx = normalize_index(c.get().size(), ei());
+      out.append(elem_ref(c.get(), idx));
+    }
+    return out;
+  }
+
+  static index_type normalize_index(std::size_t n, long i) {
+    long idx = i;
+    if (idx < 0) idx += static_cast<long>(n);
+    if (idx < 0 || idx >= static_cast<long>(n)) {
+      PyErr_SetString(PyExc_IndexError, "index out of range");
+      bp::throw_error_already_set();
+    }
+    return static_cast<index_type>(idx);
+  }
+
+  static bp::object elem_ref(Container &c, index_type i) {
+    typename bp::to_python_indirect<value_type &,
+                                    bp::detail::make_reference_holder>
+        conv;
+    return bp::object(bp::handle<>(conv(c[i])));
+  }
+
   static index_type convert_index(Container &container, PyObject *i_) {
     bp::extract<long> i(i_);
     if (i.check()) {
diff --git a/unittest/python/test_std_vector.py b/unittest/python/test_std_vector.py
index 1b0ace61..3af9723c 100644
--- a/unittest/python/test_std_vector.py
+++ b/unittest/python/test_std_vector.py
@@ -98,3 +98,20 @@ def checkZero(v):
 # Test mutable __getitem__
 l5[0][:] = 0.0
 assert np.allclose(l5[0], 0.0)
+
+# Test slicing
+l6 = eigenpy.StdVec_VectorXd()
+for _ in range(4):
+    l6.append(rng.random(3))
+checkAllValues(l6[:1], l6.tolist()[:1])
+checkAllValues(l6[1:], l6.tolist()[1:])
+checkAllValues(l6[:-1], l6.tolist()[:-1])
+checkAllValues(l6[::2], l6.tolist()[::2])
+L = [0, 2]
+L6_copy = l6[L]
+for k, i in enumerate(L):
+    checkAllValues(L6_copy[k], l6[i])
+T = (0, 2)
+L6_copy = l6[T]
+for k, i in enumerate(L):
+    checkAllValues(L6_copy[k], l6[i])