diff --git a/Cargo.toml b/Cargo.toml
index bfd3f166..1a356c3d 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -48,6 +48,8 @@ convert-bytemuck = [ "bytemuck" ]
 serde-serialize-no-std = [ "serde", "num-complex/serde" ]
 serde-serialize        = [ "serde-serialize-no-std", "serde/std" ]
 abomonation-serialize  = [ "abomonation" ]
+rkyv-serialize-no-std  = [ "rkyv" ]
+rkyv-serialize         = [ "rkyv-serialize-no-std", "rkyv/std" ]
 
 # Randomness
 ## To use rand in a #[no-std] environment, enable the
@@ -74,6 +76,7 @@ rand_distr     = { version = "0.4", default-features = false, optional = true }
 matrixmultiply = { version = "0.3", optional = true }
 serde          = { version = "1.0", default-features = false, features = [ "derive" ], optional = true }
 abomonation    = { version = "0.7", optional = true }
+rkyv           = { version = "~0.6.3", default-features = false, features = ["const_generics"], optional = true }
 mint           = { version = "0.5", optional = true }
 glam           = { version = "0.13", optional = true }
 quickcheck     = { version = "1", optional = true }
@@ -81,7 +84,7 @@ pest           = { version = "2", optional = true }
 pest_derive    = { version = "2", optional = true }
 bytemuck       = { version = "1.5", optional = true }
 matrixcompare-core = { version = "0.1", optional = true }
-proptest = { version = "1", optional = true, default-features = false, features = ["std"] }
+proptest           = { version = "1", optional = true, default-features = false, features = ["std"] }
 
 [dev-dependencies]
 serde_json = "1.0"
diff --git a/src/base/array_storage.rs b/src/base/array_storage.rs
index 68da4c51..e575229c 100644
--- a/src/base/array_storage.rs
+++ b/src/base/array_storage.rs
@@ -18,6 +18,9 @@ use std::mem;
 #[cfg(feature = "abomonation-serialize")]
 use abomonation::Abomonation;
 
+#[cfg(feature = "rkyv-serialize-no-std")]
+use rkyv::{Archive, Deserialize, Serialize};
+
 use crate::base::allocator::Allocator;
 use crate::base::default_allocator::DefaultAllocator;
 use crate::base::dimension::{Const, ToTypenum};
@@ -34,6 +37,7 @@ use crate::base::Scalar;
 /// A array-based statically sized matrix data storage.
 #[repr(C)]
 #[derive(Copy, Clone, PartialEq, Eq, Hash)]
+#[cfg_attr(feature = "rkyv-serialize-no-std", derive(Archive, Deserialize, Serialize))]
 pub struct ArrayStorage<T, const R: usize, const C: usize>(pub [[T; R]; C]);
 
 // TODO: remove this once the stdlib implements Default for arrays.
diff --git a/src/base/dimension.rs b/src/base/dimension.rs
index dd87647d..2c51b2f4 100644
--- a/src/base/dimension.rs
+++ b/src/base/dimension.rs
@@ -11,6 +11,9 @@ use typenum::{self, Diff, Max, Maximum, Min, Minimum, Prod, Quot, Sum, Unsigned}
 #[cfg(feature = "serde-serialize-no-std")]
 use serde::{Deserialize, Deserializer, Serialize, Serializer};
 
+#[cfg(feature = "rkyv-serialize-no-std")]
+use rkyv::{Archive, Deserialize, Serialize};
+
 /// Dim of dynamically-sized algebraic entities.
 #[derive(Clone, Copy, Eq, PartialEq, Debug)]
 pub struct Dynamic {
@@ -197,6 +200,7 @@ dim_ops!(
 );
 
 #[derive(Debug, Copy, Clone, PartialEq, Eq, Hash)]
+#[cfg_attr(feature = "rkyv-serialize-no-std", derive(Archive, Deserialize, Serialize))]
 pub struct Const<const R: usize>;
 
 /// Trait implemented exclusively by type-level integers.
diff --git a/src/base/matrix.rs b/src/base/matrix.rs
index 3cde8a4f..c7e02e22 100644
--- a/src/base/matrix.rs
+++ b/src/base/matrix.rs
@@ -16,6 +16,9 @@ use serde::{Deserialize, Deserializer, Serialize, Serializer};
 #[cfg(feature = "abomonation-serialize")]
 use abomonation::Abomonation;
 
+#[cfg(feature = "rkyv-serialize-no-std")]
+use rkyv::{Archive, Deserialize, Serialize};
+
 use simba::scalar::{ClosedAdd, ClosedMul, ClosedSub, Field, SupersetOf};
 use simba::simd::SimdPartialOrd;
 
@@ -153,6 +156,7 @@ pub type MatrixCross<T, R1, C1, R2, C2> =
 /// some concrete types for `T` and a compatible data storage type `S`).
 #[repr(C)]
 #[derive(Clone, Copy)]
+#[cfg_attr(feature = "rkyv-serialize-no-std", derive(Archive, Deserialize, Serialize))]
 pub struct Matrix<T, R, C, S> {
     /// The data storage that contains all the matrix components. Disappointed?
     ///
diff --git a/src/base/unit.rs b/src/base/unit.rs
index c2e60da3..4b1d1948 100644
--- a/src/base/unit.rs
+++ b/src/base/unit.rs
@@ -6,6 +6,9 @@ use std::ops::Deref;
 #[cfg(feature = "serde-serialize-no-std")]
 use serde::{Deserialize, Deserializer, Serialize, Serializer};
 
+#[cfg(feature = "rkyv-serialize-no-std")]
+use rkyv::{Archive, Deserialize, Serialize};
+
 #[cfg(feature = "abomonation-serialize")]
 use abomonation::Abomonation;
 
@@ -26,6 +29,7 @@ use crate::{Dim, Matrix, OMatrix, RealField, Scalar, SimdComplexField, SimdRealF
 /// in their documentation, read their dedicated pages directly.
 #[repr(transparent)]
 #[derive(Clone, Hash, Debug, Copy)]
+#[cfg_attr(feature = "rkyv-serialize-no-std", derive(Archive, Deserialize, Serialize))]
 pub struct Unit<T> {
     pub(crate) value: T,
 }
diff --git a/src/geometry/isometry.rs b/src/geometry/isometry.rs
index c5fd844c..7c8686c0 100755
--- a/src/geometry/isometry.rs
+++ b/src/geometry/isometry.rs
@@ -7,6 +7,9 @@ use std::io::{Result as IOResult, Write};
 #[cfg(feature = "serde-serialize-no-std")]
 use serde::{Deserialize, Serialize};
 
+#[cfg(feature = "rkyv-serialize-no-std")]
+use rkyv::{Archive, Deserialize, Serialize};
+
 #[cfg(feature = "abomonation-serialize")]
 use abomonation::Abomonation;
 
@@ -68,6 +71,7 @@ use crate::geometry::{AbstractRotation, Point, Translation};
                        DefaultAllocator: Allocator<T, Const<D>>,
                        Owned<T, Const<D>>: Deserialize<'de>"))
 )]
+#[cfg_attr(feature = "rkyv-serialize-no-std", derive(Archive, Serialize, Deserialize))]
 pub struct Isometry<T: Scalar, R, const D: usize> {
     /// The pure rotational part of this isometry.
     pub rotation: R,
diff --git a/src/geometry/quaternion.rs b/src/geometry/quaternion.rs
index 365095b8..9a920a8a 100755
--- a/src/geometry/quaternion.rs
+++ b/src/geometry/quaternion.rs
@@ -10,6 +10,9 @@ use crate::base::storage::Owned;
 #[cfg(feature = "serde-serialize-no-std")]
 use serde::{Deserialize, Deserializer, Serialize, Serializer};
 
+#[cfg(feature = "rkyv-serialize-no-std")]
+use rkyv::{Archive, Deserialize, Serialize};
+
 #[cfg(feature = "abomonation-serialize")]
 use abomonation::Abomonation;
 
@@ -28,6 +31,7 @@ use crate::geometry::{Point3, Rotation};
 /// that may be used as a rotation.
 #[repr(C)]
 #[derive(Debug, Copy, Clone)]
+#[cfg_attr(feature = "rkyv-serialize-no-std", derive(Archive, Deserialize, Serialize))]
 pub struct Quaternion<T> {
     /// This quaternion as a 4D vector of coordinates in the `[ x, y, z, w ]` storage order.
     pub coords: Vector4<T>,
diff --git a/src/geometry/translation.rs b/src/geometry/translation.rs
index 1a8f4b04..92747dab 100755
--- a/src/geometry/translation.rs
+++ b/src/geometry/translation.rs
@@ -8,6 +8,9 @@ use std::io::{Result as IOResult, Write};
 #[cfg(feature = "serde-serialize-no-std")]
 use serde::{Deserialize, Deserializer, Serialize, Serializer};
 
+#[cfg(feature = "rkyv-serialize-no-std")]
+use rkyv::{Archive, Deserialize, Serialize};
+
 #[cfg(feature = "abomonation-serialize")]
 use abomonation::Abomonation;
 
@@ -23,6 +26,7 @@ use crate::geometry::Point;
 /// A translation.
 #[repr(C)]
 #[derive(Debug)]
+#[cfg_attr(feature = "rkyv-serialize-no-std", derive(Archive, Deserialize, Serialize))]
 pub struct Translation<T, const D: usize> {
     /// The translation coordinates, i.e., how much is added to a point's coordinates when it is
     /// translated.