diff --git a/.github/workflows/sdf_parser.yml b/.github/workflows/sdf_parser.yml
new file mode 100644
index 0000000..268fae2
--- /dev/null
+++ b/.github/workflows/sdf_parser.yml
@@ -0,0 +1,58 @@
+name: SDF Parsing
+
+on:
+    push:
+      branches:
+        - '*'
+  
+jobs:
+    build:
+        runs-on: ubuntu-latest
+
+        steps:
+            - name: Checkout code
+              uses: actions/checkout@v3
+            
+            - name: Install packages
+              id: install-packages
+              run: | 
+                sudo apt install -y build-essential cmake python3-pip wget lsb-release gnupg curl
+                sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
+                wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
+                sudo apt-get update
+                sudo apt install libsdformat14-dev libsdformat14
+
+            - name: Build check_sdf
+              id: build-check-sdf
+              run: |
+                cd ./sdf_parsing
+                mkdir build
+                cd build/
+                cmake .. -Wno-dev
+                make
+
+            - name: Get changed files
+              id: changed-files
+              run: |
+                commit_sha=$(git rev-parse HEAD)
+
+                # Get the list of changed files
+                echo "changed_files=$(git diff --name-only $commit_sha^ $commit_sha)" >> $GITHUB_OUTPUT
+
+            - name: Iterate, find and check .sdf files
+              run: |
+                for file in ${{ steps.changed-files.outputs.changed_files }}; do
+                  if [[ $file == *.sdf ]]; then
+                    echo "Checking $file"
+
+                    # Run sdf parser    
+                    ./sdf_parsing/build/check_sdf $file
+                    exit_code=$?
+
+                    # Exit if exit code not equal 0
+                    if [ $exit_code -ne 0 ]; then
+                        echo "sdf parsing error in $file, exit code: $exit_code"
+                    fi
+
+                  fi
+                done
diff --git a/sdf_parsing/CMakeLists.txt b/sdf_parsing/CMakeLists.txt
new file mode 100644
index 0000000..b5126c0
--- /dev/null
+++ b/sdf_parsing/CMakeLists.txt
@@ -0,0 +1,9 @@
+cmake_minimum_required(VERSION 2.8 FATAL_ERROR)
+
+find_package(sdformat14 REQUIRED) # sdformat7 or higher
+
+include_directories(${SDFormat_INCLUDE_DIRS})
+link_directories(${SDFormat_LIBRARY_DIRS})
+
+add_executable(check_sdf check_sdf.cc)
+target_link_libraries(check_sdf ${SDFormat_LIBRARIES})
\ No newline at end of file
diff --git a/sdf_parsing/check_sdf.cc b/sdf_parsing/check_sdf.cc
new file mode 100644
index 0000000..ae08fc6
--- /dev/null
+++ b/sdf_parsing/check_sdf.cc
@@ -0,0 +1,67 @@
+#include <iostream>
+
+#include <sdf/sdf.hh>
+
+int main(int argc, const char* argv[])
+{
+  // check arguments
+  if (argc < 2)
+  {
+    std::cerr << "Usage: " << argv[0]
+              << " <sdf-path>" << std::endl;
+    return -1;
+  }
+  const std::string sdfPath(argv[1]);
+
+  // load and check sdf file
+  sdf::SDFPtr sdfElement(new sdf::SDF());
+  sdf::init(sdfElement);
+  if (!sdf::readFile(sdfPath, sdfElement))
+  {
+    std::cerr << sdfPath << " is not a valid SDF file!" << std::endl;
+    return -2;
+  }
+
+  // start parsing model
+  const sdf::ElementPtr rootElement = sdfElement->Root();
+  if (!rootElement->HasElement("model"))
+  {
+    std::cerr << sdfPath << " is not a model SDF file!" << std::endl;
+    return -3;
+  }
+  const sdf::ElementPtr modelElement = rootElement->GetElement("model");
+  const std::string modelName = modelElement->Get<std::string>("name");
+  std::cout << "Found " << modelName << " model!" << std::endl;
+
+  // parse model links
+  sdf::ElementPtr linkElement = modelElement->GetElement("link");
+  while (linkElement)
+  {
+    const std::string linkName = linkElement->Get<std::string>("name");
+    std::cout << "Found " << linkName << " link in "
+              << modelName << " model!" << std::endl;
+    linkElement = linkElement->GetNextElement("link");
+  }
+
+  // parse model joints
+  sdf::ElementPtr jointElement = modelElement->GetElement("joint");
+  while (jointElement)
+  {
+    const std::string jointName = jointElement->Get<std::string>("name");
+    std::cout << "Found " << jointName << " joint in "
+              << modelName << " model!" << std::endl;
+
+    const sdf::ElementPtr parentElement = jointElement->GetElement("parent");
+    const std::string parentLinkName = parentElement->Get<std::string>();
+
+    const sdf::ElementPtr childElement = jointElement->GetElement("child");
+    const std::string childLinkName = childElement->Get<std::string>();
+
+    std::cout << "Joint " << jointName << " connects " << parentLinkName
+              << " link to " << childLinkName << " link" << std::endl;
+
+    jointElement = jointElement->GetNextElement("joint");
+  }
+
+  return 0;
+}
\ No newline at end of file