diff --git a/CHANGELOG.md b/CHANGELOG.md
index 627e56f3d7..60dac6c9d9 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -11,6 +11,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 
 ### Fixed
 - Remove a lot of warnings ([#2139](https://github.com/stack-of-tasks/pinocchio/pull/2139))
+- `MeshcatVisualizer` doesn't crash anymore when there is no collision model defined ([#2147](https://github.com/stack-of-tasks/pinocchio/pull/2147))
 
 ### Added
 - Add `examples/floating-base-velocity-viewer.py` to visualize floating base velocity [#2143](https://github.com/stack-of-tasks/pinocchio/pull/2143)
diff --git a/bindings/python/pinocchio/visualize/meshcat_visualizer.py b/bindings/python/pinocchio/visualize/meshcat_visualizer.py
index 4bf49884b5..eec47566f2 100644
--- a/bindings/python/pinocchio/visualize/meshcat_visualizer.py
+++ b/bindings/python/pinocchio/visualize/meshcat_visualizer.py
@@ -489,14 +489,16 @@ def loadViewerModel(self, rootNodeName="pinocchio", color=None):
         # Collisions
         self.viewerCollisionGroupName = self.viewerRootNodeName + "/" + "collisions"
 
-        for collision in self.collision_model.geometryObjects:
-            self.loadViewerGeometryObject(collision, pin.GeometryType.COLLISION, color)
+        if self.collision_model is not None:
+            for collision in self.collision_model.geometryObjects:
+                self.loadViewerGeometryObject(collision, pin.GeometryType.COLLISION, color)
         self.displayCollisions(False)
 
         # Visuals
         self.viewerVisualGroupName = self.viewerRootNodeName + "/" + "visuals"
-        for visual in self.visual_model.geometryObjects:
-            self.loadViewerGeometryObject(visual, pin.GeometryType.VISUAL, color)
+        if self.visual_model is not None:
+            for visual in self.visual_model.geometryObjects:
+                self.loadViewerGeometryObject(visual, pin.GeometryType.VISUAL, color)
         self.displayVisuals(True)
 
         # Frames