diff --git a/CMakeLists.txt b/CMakeLists.txt
index 585213159a..85bb700360 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -47,6 +47,17 @@ else()
     set(GTSAM_UNSTABLE_AVAILABLE 0)
 endif()
 
+# ----------------------------------------------------------------------------
+#   Uninstall target, for "make uninstall"
+# ----------------------------------------------------------------------------
+configure_file(
+  "${CMAKE_CURRENT_SOURCE_DIR}/cmake/cmake_uninstall.cmake.in"
+  "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake"
+  IMMEDIATE @ONLY)
+
+add_custom_target(uninstall
+  "${CMAKE_COMMAND}" -P "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake")
+
 
 ###############################################################################
 # Set up options
@@ -131,8 +142,8 @@ if(MSVC)
 	endif()
 endif()
 
-# If building DLLs in MSVC, we need to avoid EIGEN_STATIC_ASSERT() 
-# or explicit instantiation will generate build errors. 
+# If building DLLs in MSVC, we need to avoid EIGEN_STATIC_ASSERT()
+# or explicit instantiation will generate build errors.
 # See: https://bitbucket.org/gtborg/gtsam/issues/417/fail-to-build-on-msvc-2017
 #
 if(MSVC AND BUILD_SHARED_LIBS)
diff --git a/cmake/cmake_uninstall.cmake.in b/cmake/cmake_uninstall.cmake.in
new file mode 100644
index 0000000000..aa20a69a62
--- /dev/null
+++ b/cmake/cmake_uninstall.cmake.in
@@ -0,0 +1,27 @@
+# -----------------------------------------------
+# File that provides "make uninstall" target
+#  We use the file 'install_manifest.txt'
+# -----------------------------------------------
+if(NOT EXISTS "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt")
+  message(FATAL_ERROR "Cannot find install manifest: \"@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt\"")
+endif(NOT EXISTS "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt")
+
+file(READ "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt" files)
+string(REGEX REPLACE "\n" ";" files "${files}")
+foreach(file ${files})
+  message(STATUS "Uninstalling \"$ENV{DESTDIR}${file}\"")
+  if(EXISTS "$ENV{DESTDIR}${file}")
+    exec_program(
+      "@CMAKE_COMMAND@" ARGS "-E remove \"$ENV{DESTDIR}${file}\""
+      OUTPUT_VARIABLE rm_out
+      RETURN_VALUE rm_retval
+      )
+    if(NOT "${rm_retval}" STREQUAL 0)
+      message(FATAL_ERROR "Problem when removing \"$ENV{DESTDIR}${file}\"")
+    endif(NOT "${rm_retval}" STREQUAL 0)
+  else(EXISTS "$ENV{DESTDIR}${file}")
+    message(STATUS "File \"$ENV{DESTDIR}${file}\" does not exist.")
+  endif(EXISTS "$ENV{DESTDIR}${file}")
+endforeach(file)
+
+