diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 6687a8f4b..2fae0ce86 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -12,10 +12,47 @@ on:
   # * is a special character in YAML so you have to quote this string
   # Execute a "nightly" build at 2 AM UTC 
   - cron:  '0 2 * * *'
-  
-  
+
+
 jobs:
-  build:
+  docker-build:    
+    name: '[docker:${{ matrix.project_tags }}@${{ matrix.docker_image }}@${{ matrix.build_type }}]'
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        build_type: [Debug]
+        project_tags: [Stable, Unstable]
+        cmake_generator: 
+          - "Ninja"
+        docker_image: 
+          - "ubuntu:focal"
+          - "debian:stable"
+          # Workaround for https://github.com/robotology/robotology-superbuild/issues/383
+          # - "debian:sid"
+    container:
+      image: ${{ matrix.docker_image }}
+  
+    steps:
+    - uses: actions/checkout@master
+          
+    - name: Dependencies [Docker]
+      run: |
+        chmod +x ./.ci/install_debian.sh
+        ./.ci/install_debian.sh
+
+    - name: Configure [Docker]
+      run: |
+        mkdir -p build
+        cd build
+        # Octave is disabled as a workaround for https://github.com/robotology/robotology-superbuild/issues/384
+        cmake -G"${{ matrix.cmake_generator }}" -DROBOTOLOGY_USES_GAZEBO:BOOL=ON -DROBOTOLOGY_USES_OCTAVE:BOOL=OFF -DROBOTOLOGY_USES_PYTHON:BOOL=ON -DROBOTOLOGY_ENABLE_ROBOT_TESTING:BOOL=ON  -DROBOTOLOGY_ENABLE_DYNAMICS:BOOL=ON -DROBOTOLOGY_ENABLE_HUMAN_DYNAMICS:BOOL=ON -DROBOTOLOGY_ENABLE_ICUB_HEAD:BOOL=ON -DROBOTOLOGY_ENABLE_ICUB_BASIC_DEMOS:BOOL=ON -DNON_INTERACTIVE_BUILD:BOOL=TRUE -DCMAKE_BUILD_TYPE=${{ matrix.build_type }}  -DROBOTOLOGY_PROJECT_TAGS=${{ matrix.project_tags }} ..
+
+    - name: Build  [Docker]
+      run: |
+        cd build
+        cmake --build . --config ${{ matrix.build_type }}
+
+  normal-build:
     name: '[${{ matrix.project_tags }}@${{ matrix.os }}@${{ matrix.build_type }}]'
     runs-on: ${{ matrix.os }}
     strategy: