diff --git a/CHANGELOG.md b/CHANGELOG.md
index 108f956f3c8..ffe4fbba400 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -9,6 +9,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ### Added
 - Add the possibility to plot and update frames in the Matlab visualizer.
+- Add the possibility to extract submatrix with MatrixView (https://github.com/robotology/idyntree/pull/800)
 
 ## [2.0.2] - 2020-12-04
 
diff --git a/src/core/include/iDynTree/Core/MatrixView.h b/src/core/include/iDynTree/Core/MatrixView.h
index 3a7eadc5878..a2e1aa1b722 100644
--- a/src/core/include/iDynTree/Core/MatrixView.h
+++ b/src/core/include/iDynTree/Core/MatrixView.h
@@ -77,14 +77,17 @@ namespace iDynTree
 
         MatrixStorageOrdering m_storageOrder;
 
+        index_type m_innerStride;
+        index_type m_outerStride;
+
         index_type rawIndex(index_type row, index_type col) const
         {
             if (m_storageOrder == MatrixStorageOrdering::RowMajor)
             {
-                return (col + this->m_cols * row);
+                return (col + this->m_outerStride * row);
             } else
             {
-                return (this->m_rows * col + row);
+                return (this->m_outerStride * col + row);
             }
         }
 
@@ -174,6 +177,8 @@ namespace iDynTree
             , m_rows(in_rows)
             , m_cols(in_cols)
             , m_storageOrder(order)
+            , m_innerStride(1)
+            , m_outerStride(order == MatrixStorageOrdering::RowMajor ? in_cols : in_rows)
         {
         }
 
@@ -210,6 +215,25 @@ namespace iDynTree
             return this->m_cols;
         }
         ///@}
+
+        MatrixView block(index_type startingRow, index_type startingColumn,
+                         index_type rows, index_type cols) const
+        {
+            assert(rows <= this->rows());
+            assert(cols <= this->cols());
+
+            const index_type offset = rawIndex(startingRow, startingColumn);
+            assert(offset < this->rows() * this->cols());
+
+            MatrixView block;
+            block = *this;
+            block.m_rows = rows;
+            block.m_cols = cols;
+            block.m_storage = this->m_storage + offset;
+
+            return block;
+        }
+
     };
 
     template <class ElementType>
diff --git a/src/core/tests/MatrixViewUnitTest.cpp b/src/core/tests/MatrixViewUnitTest.cpp
index 61e200e18d9..23a3d31f01e 100644
--- a/src/core/tests/MatrixViewUnitTest.cpp
+++ b/src/core/tests/MatrixViewUnitTest.cpp
@@ -29,27 +29,41 @@ int main()
     // test with iDynTree matrix
     MatrixDynSize mat1(27, 41);
     getRandomMatrix(mat1);
-    MatrixView<double> view1(mat1);
+    MatrixDynSize subMat1(10, 23);
+    toEigen(subMat1) = toEigen(mat1).block(3, 5, 10, 23);
 
+    MatrixView<double> view1(mat1);
     areMatricesEqual(view1, mat1);
 
+    auto subView1 = view1.block(3, 5, 10, 23);
+    areMatricesEqual(subView1, subMat1);
+
     // Test with eigen column major matrix
     Eigen::MatrixXd mat2(27, 41);
     mat2.setRandom();
-    MatrixView<double> view2(mat2);
+    Eigen::MatrixXd subMat2;
+    subMat2 = mat2.block(3, 5, 10, 23);
 
+    MatrixView<double> view2(mat2);
     areMatricesEqual(view2, mat2);
 
+    auto subView2 = view2.block(3, 5, 10, 23);
+    areMatricesEqual(subView2, subMat2);
+
     // Test with eigen row major matrix
     Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor> mat3(27, 41);
     mat3.setRandom();
-    MatrixView<double> view3(mat3);
+    Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor> subMat3;
+    subMat3 = mat3.block(3, 5, 10, 23);
 
+    MatrixView<double> view3(mat3);
     areMatricesEqual(view3, mat3);
 
     auto view4 = make_matrix_view(mat3);
     areMatricesEqual(view4, mat3);
 
+    auto subView3 = view3.block(3, 5, 10, 23);
+    areMatricesEqual(subView3, subMat3);
 
     return 0;
 }