diff --git a/.github/workflows/docker.yml b/.github/workflows/docker.yml
index e372a0f2ac4..213fa40ece9 100644
--- a/.github/workflows/docker.yml
+++ b/.github/workflows/docker.yml
@@ -113,11 +113,42 @@ jobs:
           artifacts: artifacts/PythonAPI.tar.gz
           token: ${{ secrets.PAT }}
 
-  # create vulkan-base for carla release
+  # create carla client image
+  create-carla-client-image:
+    name: Create carla client image
+    runs-on: self-hosted
+    needs: provide-artifacts
+    env:
+      IMAGE_TAG_SUFFIX: ""
+      
+    steps:
+      
+      - name: Set image tag
+        run: |
+          echo "IMAGE_TAG_SUFFIX=_$(echo '${{ github.ref_name }}' | tr / -)_ci" >> $GITHUB_ENV
+        if: github.ref_name != github.event.repository.default_branch
+    
+      - uses: docker/login-action@v3
+        name: Login to Docker Hub
+        with:
+          username: ${{ secrets.DOCKER_USERNAME }}
+          password: ${{ secrets.DOCKER_PASSWORD }}
+          
+      - uses: docker/build-push-action@v5
+        name: Build and push image
+        with:
+          file: Util/Docker/client/Client.Dockerfile
+          tags: rwthika/carla-simulator:client${{env.IMAGE_TAG_SUFFIX}}
+          no-cache: true
+          build-args: |
+            UBUNTU_VERSION=22.04
+          context: .
+
+  # create vulkan-base for carla server image
   create-vulkan-base-image:
     name: Create vulkan-base image
     runs-on: self-hosted
-    needs: provide-artifacts
+    needs: create-carla-client-image
     steps:
 
       - uses: docker/build-push-action@v5
@@ -131,9 +162,9 @@ jobs:
             CUDA_VERSION=12.2.0
           context: Util/Docker/vulkan-base
           
-  # create and push carla image
-  create-carla-image:
-    name: Create carla image
+  # create and push carla server image
+  create-carla-server-image:
+    name: Create carla server image
     runs-on: self-hosted
     needs: create-vulkan-base-image
     env:
@@ -159,7 +190,7 @@ jobs:
         name: Build and push
         with:
           file: build/Dockerfile
-          tags: rwthika/carla-simulator:latest${{env.IMAGE_TAG_SUFFIX}}
+          tags: rwthika/carla-simulator:server${{env.IMAGE_TAG_SUFFIX}}
           no-cache: true
           context: build
           push: true  
diff --git a/Util/Docker/client/Client.Dockerfile b/Util/Docker/client/Client.Dockerfile
new file mode 100644
index 00000000000..bc69c5f7876
--- /dev/null
+++ b/Util/Docker/client/Client.Dockerfile
@@ -0,0 +1,54 @@
+ARG UBUNTU_VERSION="22.04"
+
+FROM "ubuntu:${UBUNTU_VERSION}" as dependencies
+
+USER root
+SHELL ["/bin/bash", "-c"]
+
+ARG CARLA_API_PATH=/opt/carla/PythonAPI
+
+# Install essentials
+RUN apt-get update && \
+    apt-get install -y \
+      fontconfig \
+      x11-apps \
+      python3-pip \
+      libomp5 \
+      libjpeg-turbo8 libtiff-dev \
+      libgeos-dev \
+    && rm -rf /var/lib/apt/lists/*
+
+RUN pip3 install --upgrade pip
+RUN update-alternatives --install /usr/bin/python python /usr/bin/python3 10
+
+# Move over PythonAPI
+COPY ./artifacts/PythonAPI ${CARLA_API_PATH}
+
+# Recursively install PythonAPI requirements, keep version of first occurrence
+RUN cat $(find ${CARLA_API_PATH} -type f -name "requirements.txt") > /tmp/requirements_raw.txt \
+    && awk -F '==' '{print $1}' /tmp/requirements_raw.txt | awk '!visited[$1]++' > /tmp/requirements.txt \
+    && pip3 install -r /tmp/requirements.txt
+
+# Create script that adds API to pythonpath and make .bashrc source it
+RUN echo "export PYTHONPATH=\$PYTHONPATH:$CARLA_API_PATH/carla/dist/$(ls $CARLA_API_PATH/carla/dist | grep py$(python --version | awk -F'[ .]' '{print $2"."$3}').)" >> /setup_carla_env.sh; \
+    echo "export PYTHONPATH=\$PYTHONPATH:$CARLA_API_PATH/carla/agents" >> /setup_carla_env.sh; \
+    echo "export PYTHONPATH=\$PYTHONPATH:$CARLA_API_PATH/carla" >> /setup_carla_env.sh; \
+    echo "export CARLA_API_PATH=$CARLA_API_PATH" >> /setup_carla_env.sh; \
+    echo "source /setup_carla_env.sh" >> ~/.bashrc
+
+
+# Needed for (pygame based) scripts that have a GUI
+ENV SDL_VIDEODRIVER=x11
+
+USER root
+SHELL ["/bin/bash", "-c"]
+
+ARG WORKSPACE=${CARLA_API_PATH}
+ENV WORKSPACE=${WORKSPACE}
+WORKDIR ${WORKSPACE}
+
+# Set entrypoint
+COPY ./Util/Docker/client/entrypoint.sh /
+ENTRYPOINT [ "/entrypoint.sh" ]
+
+CMD [ "python3", "util/test_connection.py" ]
diff --git a/Util/Docker/client/entrypoint.sh b/Util/Docker/client/entrypoint.sh
new file mode 100644
index 00000000000..f546ece4e34
--- /dev/null
+++ b/Util/Docker/client/entrypoint.sh
@@ -0,0 +1,8 @@
+#!/bin/bash
+set -e
+
+# source CARLA environment setup script
+source /setup_carla_env.sh
+
+# run the actual command
+exec "$@"