diff --git a/CMakeLists.txt b/CMakeLists.txt
index ca5452fd0..c4397af37 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -396,6 +396,10 @@ list(APPEND draco_io_sources
             "${draco_src_root}/io/ply_property_writer.h"
             "${draco_src_root}/io/ply_reader.cc"
             "${draco_src_root}/io/ply_reader.h"
+            "${draco_src_root}/io/stl_decoder.cc"
+            "${draco_src_root}/io/stl_decoder.h"
+            "${draco_src_root}/io/stl_encoder.cc"
+            "${draco_src_root}/io/stl_encoder.h"
             "${draco_src_root}/io/point_cloud_io.cc"
             "${draco_src_root}/io/point_cloud_io.h"
             "${draco_src_root}/io/stdio_file_reader.cc"
diff --git a/cmake/draco_tests.cmake b/cmake/draco_tests.cmake
index 1633d7522..d3e43251c 100644
--- a/cmake/draco_tests.cmake
+++ b/cmake/draco_tests.cmake
@@ -60,6 +60,8 @@ list(
     "${draco_src_root}/io/obj_encoder_test.cc"
     "${draco_src_root}/io/ply_decoder_test.cc"
     "${draco_src_root}/io/ply_reader_test.cc"
+    "${draco_src_root}/io/stl_decoder_test.cc"
+    "${draco_src_root}/io/stl_encoder_test.cc"
     "${draco_src_root}/io/point_cloud_io_test.cc"
     "${draco_src_root}/mesh/mesh_are_equivalent_test.cc"
     "${draco_src_root}/mesh/mesh_cleanup_test.cc"
diff --git a/src/draco/io/mesh_io.cc b/src/draco/io/mesh_io.cc
index 0bba9a787..13bebcb42 100644
--- a/src/draco/io/mesh_io.cc
+++ b/src/draco/io/mesh_io.cc
@@ -20,6 +20,7 @@
 #include "draco/io/file_utils.h"
 #include "draco/io/obj_decoder.h"
 #include "draco/io/ply_decoder.h"
+#include "draco/io/stl_decoder.h"
 #ifdef DRACO_TRANSCODER_SUPPORTED
 #include "draco/compression/draco_compression_options.h"
 #include "draco/compression/encode.h"
@@ -71,11 +72,16 @@ StatusOr<std::unique_ptr<Mesh>> ReadMeshFromFile(
     return std::move(mesh);
   }
   if (extension == "ply") {
-    // Wavefront PLY file format.
+    // Stanford PLY file format.
     PlyDecoder ply_decoder;
     DRACO_RETURN_IF_ERROR(ply_decoder.DecodeFromFile(file_name, mesh.get()));
     return std::move(mesh);
   }
+  if (extension == "stl") {
+    // STL file format.
+    StlDecoder stl_decoder;
+    return stl_decoder.DecodeFromFile(file_name);
+  }
 #ifdef DRACO_TRANSCODER_SUPPORTED
   if (extension == "gltf" || extension == "glb") {
     GltfDecoder gltf_decoder;
diff --git a/src/draco/io/stl_decoder.cc b/src/draco/io/stl_decoder.cc
new file mode 100644
index 000000000..954aba06b
--- /dev/null
+++ b/src/draco/io/stl_decoder.cc
@@ -0,0 +1,74 @@
+// Copyright 2022 The Draco Authors.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//      http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+#include "draco/io/stl_decoder.h"
+
+#include "draco/core/macros.h"
+#include "draco/core/status.h"
+#include "draco/core/status_or.h"
+#include "draco/io/file_utils.h"
+#include "draco/mesh/triangle_soup_mesh_builder.h"
+
+namespace draco {
+
+StatusOr<std::unique_ptr<Mesh>> StlDecoder::DecodeFromFile(
+    const std::string &file_name) {
+  std::vector<char> data;
+  if (!ReadFileToBuffer(file_name, &data)) {
+    return Status(Status::IO_ERROR, "Unable to read input file.");
+  }
+  DecoderBuffer buffer;
+  buffer.Init(data.data(), data.size());
+  return DecodeFromBuffer(&buffer);
+}
+
+StatusOr<std::unique_ptr<Mesh>> StlDecoder::DecodeFromBuffer(
+    DecoderBuffer *buffer) {
+  if (!strncmp(buffer->data_head() , "solid ", 6)) {
+    return Status(Status::IO_ERROR,
+                  "Currently only binary STL files are supported.");
+  }
+  buffer->Advance(80);
+  uint32_t face_count;
+  buffer->Decode(&face_count, 4);
+
+  TriangleSoupMeshBuilder builder;
+  builder.Start(face_count);
+
+  const int32_t pos_att_id = builder.AddAttribute(GeometryAttribute::POSITION,
+                                                  3, DT_FLOAT32);
+  const int32_t norm_att_id = builder.AddAttribute(GeometryAttribute::NORMAL,
+                                                  3, DT_FLOAT32);
+
+  for (uint32_t i = 0; i < face_count; i++) {
+    float data[48];
+    buffer->Decode(data, 48);
+    uint16_t unused;
+    buffer->Decode(&unused, 2);
+
+    builder.SetPerFaceAttributeValueForFace(norm_att_id, draco::FaceIndex(i),
+        draco::Vector3f(data[0], data[1], data[2]).data());
+
+    builder.SetAttributeValuesForFace(pos_att_id, draco::FaceIndex(i),
+        draco::Vector3f(data[3], data[4], data[5]).data(),
+        draco::Vector3f(data[6], data[7], data[8]).data(),
+        draco::Vector3f(data[9], data[10], data[11]).data());
+  
+  }
+
+  std::unique_ptr<Mesh> mesh = builder.Finalize();
+  return mesh;
+}
+
+}  // namespace draco
diff --git a/src/draco/io/stl_decoder.h b/src/draco/io/stl_decoder.h
new file mode 100644
index 000000000..44b35d849
--- /dev/null
+++ b/src/draco/io/stl_decoder.h
@@ -0,0 +1,38 @@
+// Copyright 2022 The Draco Authors.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//      http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+#ifndef DRACO_IO_STL_DECODER_H_
+#define DRACO_IO_STL_DECODER_H_
+
+#include <string>
+
+#include "draco/core/decoder_buffer.h"
+#include "draco/core/status.h"
+#include "draco/core/status_or.h"
+#include "draco/draco_features.h"
+#include "draco/mesh/mesh.h"
+
+namespace draco {
+
+// Decodes an STL file into draco::Mesh (or draco::PointCloud if the
+// connectivity data is not needed).
+class StlDecoder {
+ public:
+  StatusOr<std::unique_ptr<Mesh>> DecodeFromFile(const std::string &file_name);
+  StatusOr<std::unique_ptr<Mesh>> DecodeFromBuffer(DecoderBuffer *buffer);
+};
+
+}  // namespace draco
+
+#endif  // DRACO_IO_STL_DECODER_H_
diff --git a/src/draco/io/stl_decoder_test.cc b/src/draco/io/stl_decoder_test.cc
new file mode 100644
index 000000000..cb32d4d7d
--- /dev/null
+++ b/src/draco/io/stl_decoder_test.cc
@@ -0,0 +1,47 @@
+// Copyright 2022 The Draco Authors.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//      http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+#include "draco/io/stl_decoder.h"
+#include "draco/core/draco_test_base.h"
+#include "draco/core/draco_test_utils.h"
+
+namespace draco {
+
+class StlDecoderTest : public ::testing::Test {
+ protected:
+
+  void test_decoding(const std::string &file_name) {
+    const std::string path = GetTestFileFullPath(file_name);
+    StlDecoder decoder;
+    DRACO_ASSIGN_OR_ASSERT(std::unique_ptr<Mesh> mesh,
+                           decoder.DecodeFromFile(path));
+    ASSERT_GT(mesh->num_faces(), 0);
+    ASSERT_GT(mesh->num_points(), 0);
+  }
+
+  void test_decoding_should_fail(const std::string &file_name) {
+    StlDecoder decoder;
+    StatusOr<std::unique_ptr<Mesh>> statusOrMesh =
+        decoder.DecodeFromFile(GetTestFileFullPath(file_name));
+    ASSERT_FALSE(statusOrMesh.ok());
+  }
+};
+
+TEST_F(StlDecoderTest, TestStlDecoding) {
+  test_decoding("STL/bunny.stl");
+  test_decoding("STL/test_sphere.stl");
+  test_decoding_should_fail("STL/test_sphere_ascii.stl");
+}
+
+}  // namespace draco
diff --git a/src/draco/io/stl_encoder.cc b/src/draco/io/stl_encoder.cc
new file mode 100644
index 000000000..784e9281c
--- /dev/null
+++ b/src/draco/io/stl_encoder.cc
@@ -0,0 +1,111 @@
+// Copyright 2022 The Draco Authors.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//      http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+#include "draco/io/stl_encoder.h"
+
+#include <memory>
+#include <iomanip>
+#include <sstream>
+
+#include "draco/io/file_writer_factory.h"
+#include "draco/io/file_writer_interface.h"
+
+namespace draco {
+
+StlEncoder::StlEncoder()
+    : out_buffer_(nullptr), in_point_cloud_(nullptr), in_mesh_(nullptr) {}
+
+Status StlEncoder::EncodeToFile(const Mesh &mesh, const std::string &file_name) {
+  in_mesh_ = &mesh;
+  std::unique_ptr<FileWriterInterface> file =
+      FileWriterFactory::OpenWriter(file_name);
+  if (!file) {
+    return Status(Status::IO_ERROR, "File couldn't be opened");
+  }
+  // Encode the mesh into a buffer.
+  EncoderBuffer buffer;
+  DRACO_RETURN_IF_ERROR(EncodeToBuffer(mesh, &buffer));
+  // Write the buffer into the file.
+  file->Write(buffer.data(), buffer.size());
+  return OkStatus();
+}
+
+Status StlEncoder::EncodeToBuffer(const Mesh &mesh, EncoderBuffer *out_buffer) {
+  in_mesh_ = &mesh;
+  out_buffer_ = out_buffer;
+  Status s = EncodeInternal();
+  in_mesh_ = nullptr; // cleanup
+  in_point_cloud_ = nullptr;
+  out_buffer_ = nullptr;
+  return s;
+}
+
+Status StlEncoder::EncodeInternal() {
+  // Write STL header.
+  std::stringstream out;
+  out << std::left << std::setw(80) << "generated using Draco";  // header is 80 bytes fixed size.
+  const std::string header_str = out.str();
+  buffer()->Encode(header_str.data(), header_str.length());
+
+  uint32_t num_faces = in_mesh_->num_faces();
+  buffer()->Encode(&num_faces, 4);
+
+  std::vector<uint8_t> stl_face;
+
+  const int pos_att_id =
+      in_mesh_->GetNamedAttributeId(GeometryAttribute::POSITION);
+
+  if (pos_att_id < 0) {
+    return ErrorStatus("Mesh is missing the position attribute.");
+  }
+
+  if (in_mesh_->attribute(pos_att_id)->data_type() !=
+      DT_FLOAT32) {
+    return ErrorStatus("Mesh position attribute is not of type float32.");
+  }
+
+  uint16_t unused = 0;
+
+  if (in_mesh_) {
+    for (FaceIndex i(0); i < in_mesh_->num_faces(); ++i) {
+
+      const auto &f = in_mesh_->face(i);
+      const auto *const pos_att = in_mesh_->attribute(pos_att_id);
+
+      // The normal attribute can contain arbitrary normals that may not
+      // correspond to the winding of the face.
+      // Therefor we simply always calculate them
+      // using the points of the triangle face: norm(cross(p2-p1, p3-p1))
+
+      Vector3f pos[3];
+      pos_att->GetMappedValue(f[0], &pos[0][0]);
+      pos_att->GetMappedValue(f[1], &pos[1][0]);
+      pos_att->GetMappedValue(f[2], &pos[2][0]);
+      Vector3f norm = CrossProduct(pos[1] - pos[0], pos[2] - pos[0]);
+      norm.Normalize();
+      buffer()->Encode(norm.data(), sizeof(float) * 3);
+
+      for (int c = 0; c < 3; ++c) {
+        buffer()->Encode(pos_att->GetAddress(pos_att->mapped_index(f[c])),
+                         pos_att->byte_stride());
+      }
+
+      buffer()->Encode(&unused, 2);
+
+    }
+  }
+  return OkStatus();
+}
+
+}  // namespace draco
diff --git a/src/draco/io/stl_encoder.h b/src/draco/io/stl_encoder.h
new file mode 100644
index 000000000..77a04f306
--- /dev/null
+++ b/src/draco/io/stl_encoder.h
@@ -0,0 +1,50 @@
+// Copyright 2022 The Draco Authors.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//      http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+#ifndef DRACO_IO_STL_ENCODER_H_
+#define DRACO_IO_STL_ENCODER_H_
+
+#include "draco/core/encoder_buffer.h"
+#include "draco/mesh/mesh.h"
+
+namespace draco {
+
+// Class for encoding draco::Mesh into the STL file format.
+class StlEncoder {
+ public:
+  StlEncoder();
+
+  // Encodes the mesh and saves it into a file.
+  // Returns false when either the encoding failed or when the file couldn't be
+  // opened.
+  Status EncodeToFile(const Mesh &mesh, const std::string &file_name);
+
+  // Encodes the mesh into a buffer.
+  Status EncodeToBuffer(const Mesh &mesh, EncoderBuffer *out_buffer);
+
+ protected:
+  Status EncodeInternal();
+  EncoderBuffer *buffer() const { return out_buffer_; }
+
+ private:
+  
+  EncoderBuffer *out_buffer_;
+
+  const PointCloud *in_point_cloud_;
+  const Mesh *in_mesh_;
+};
+
+}  // namespace draco
+
+#endif  // DRACO_IO_STL_ENCODER_H_
diff --git a/src/draco/io/stl_encoder_test.cc b/src/draco/io/stl_encoder_test.cc
new file mode 100644
index 000000000..0525dc605
--- /dev/null
+++ b/src/draco/io/stl_encoder_test.cc
@@ -0,0 +1,75 @@
+// Copyright 2022 The Draco Authors.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//      http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+#include <sstream>
+
+#include "draco/core/draco_test_base.h"
+#include "draco/core/draco_test_utils.h"
+#include "draco/io/file_reader_factory.h"
+#include "draco/io/file_reader_interface.h"
+#include "draco/io/stl_decoder.h"
+#include "draco/io/stl_encoder.h"
+
+namespace draco {
+
+class StlEncoderTest : public ::testing::Test {
+ protected:
+  void CompareMeshes(const Mesh *mesh0, const Mesh *mesh1) {
+    ASSERT_EQ(mesh0->num_faces(), mesh1->num_faces());
+    ASSERT_EQ(mesh0->num_attributes(), mesh1->num_attributes());
+    for (size_t att_id = 0; att_id < mesh0->num_attributes(); ++att_id) {
+      ASSERT_EQ(mesh0->attribute(att_id)->size(),
+                mesh1->attribute(att_id)->size());
+    }
+  }
+
+  // Encode a mesh using the StlEncoder and then decode to verify the encoding.
+  std::unique_ptr<Mesh> EncodeAndDecodeMesh(const Mesh *mesh) {
+    EncoderBuffer encoder_buffer;
+    StlEncoder encoder;
+    Status status = encoder.EncodeToBuffer(*mesh, &encoder_buffer);
+    if (!status.ok()) {
+      return nullptr;
+    }
+
+    DecoderBuffer decoder_buffer;
+    decoder_buffer.Init(encoder_buffer.data(), encoder_buffer.size());
+    StlDecoder decoder;
+    StatusOr<std::unique_ptr<Mesh>> status_or_mesh =
+        decoder.DecodeFromBuffer(&decoder_buffer);
+    if (!status_or_mesh.ok()) {
+      return nullptr;
+    }
+    std::unique_ptr<Mesh> decoded_mesh = std::move(status_or_mesh).value();
+    return decoded_mesh;
+  }
+
+  void test_encoding(const std::string &file_name) {
+    const std::unique_ptr<Mesh> mesh(ReadMeshFromTestFile(file_name, true));
+
+    ASSERT_NE(mesh, nullptr) << "Failed to load test model " << file_name;
+    ASSERT_GT(mesh->num_faces(), 0);
+
+    const std::unique_ptr<Mesh> decoded_mesh = EncodeAndDecodeMesh(mesh.get());
+    CompareMeshes(mesh.get(), decoded_mesh.get());
+  }
+};
+
+TEST_F(StlEncoderTest, TestStlEncoding) {
+  // Test decoded mesh from encoded stl file stays the same.
+  test_encoding("STL/bunny.stl");
+  test_encoding("STL/test_sphere.stl");
+}
+
+}  // namespace draco
diff --git a/src/draco/tools/draco_decoder.cc b/src/draco/tools/draco_decoder.cc
index e7ffb2061..4deb63cc0 100644
--- a/src/draco/tools/draco_decoder.cc
+++ b/src/draco/tools/draco_decoder.cc
@@ -20,6 +20,7 @@
 #include "draco/io/obj_encoder.h"
 #include "draco/io/parser_utils.h"
 #include "draco/io/ply_encoder.h"
+#include "draco/io/stl_encoder.h"
 
 namespace {
 
@@ -157,8 +158,20 @@ int main(int argc, char **argv) {
         return -1;
       }
     }
+  } else if (extension == ".stl") {
+    draco::StlEncoder stl_encoder;
+    if (mesh) {
+      draco::Status s = stl_encoder.EncodeToFile(*mesh, options.output);
+      if (s.code() != draco::Status::OK) {
+        printf("Failed to store the decoded mesh as STL.\n");
+        return -1;
+      }
+    } else {
+      printf("Can't store a point cloud as STL.\n");
+      return -1;
+    }
   } else {
-    printf("Invalid extension of the output file. Use either .ply or .obj.\n");
+    printf("Invalid extension of the output file. Use either .ply, .stl or .obj.\n");
     return -1;
   }
   printf("Decoded geometry saved to %s (%" PRId64 " ms to decode)\n",
diff --git a/testdata/STL/bunny.stl b/testdata/STL/bunny.stl
new file mode 100644
index 000000000..af54b9daf
Binary files /dev/null and b/testdata/STL/bunny.stl differ
diff --git a/testdata/STL/test_sphere.stl b/testdata/STL/test_sphere.stl
new file mode 100644
index 000000000..12570635f
Binary files /dev/null and b/testdata/STL/test_sphere.stl differ
diff --git a/testdata/STL/test_sphere_ascii.stl b/testdata/STL/test_sphere_ascii.stl
new file mode 100644
index 000000000..b79326aaf
--- /dev/null
+++ b/testdata/STL/test_sphere_ascii.stl
@@ -0,0 +1,1570 @@
+solid Exported from Blender-3.0.1
+facet normal 0.552209 -0.109841 0.826438
+outer loop
+vertex 0.382683 -0.000000 0.923880
+vertex 0.653281 -0.270598 0.707107
+vertex 0.707107 -0.000000 0.707107
+endloop
+endfacet
+facet normal 0.552208 0.109841 0.826439
+outer loop
+vertex 0.382683 -0.000000 0.923880
+vertex 0.653281 0.270598 0.707107
+vertex 0.353553 0.146446 0.923880
+endloop
+endfacet
+facet normal 0.194944 -0.038777 0.980048
+outer loop
+vertex 0.382683 -0.000000 0.923880
+vertex 0.000000 -0.000000 1.000000
+vertex 0.353553 -0.146447 0.923880
+endloop
+endfacet
+facet normal 0.552209 -0.109841 0.826438
+outer loop
+vertex 0.353553 -0.146447 0.923880
+vertex 0.653281 -0.270598 0.707107
+vertex 0.382683 -0.000000 0.923880
+endloop
+endfacet
+facet normal 0.165265 -0.110427 0.980048
+outer loop
+vertex 0.353553 -0.146447 0.923880
+vertex 0.000000 -0.000000 1.000000
+vertex 0.270598 -0.270598 0.923879
+endloop
+endfacet
+facet normal 0.468140 -0.312801 0.826438
+outer loop
+vertex 0.270598 -0.270598 0.923879
+vertex 0.653281 -0.270598 0.707107
+vertex 0.353553 -0.146447 0.923880
+endloop
+endfacet
+facet normal 0.312801 -0.468140 0.826439
+outer loop
+vertex 0.270598 -0.270598 0.923879
+vertex 0.270598 -0.653282 0.707107
+vertex 0.500000 -0.500000 0.707107
+endloop
+endfacet
+facet normal 0.110427 -0.165265 0.980048
+outer loop
+vertex 0.270598 -0.270598 0.923879
+vertex 0.000000 -0.000000 1.000000
+vertex 0.146447 -0.353554 0.923879
+endloop
+endfacet
+facet normal 0.312801 -0.468140 0.826438
+outer loop
+vertex 0.146447 -0.353554 0.923879
+vertex 0.270598 -0.653282 0.707107
+vertex 0.270598 -0.270598 0.923879
+endloop
+endfacet
+facet normal 0.038776 -0.194944 0.980048
+outer loop
+vertex 0.146447 -0.353554 0.923879
+vertex 0.000000 -0.000000 1.000000
+vertex 0.000000 -0.382684 0.923879
+endloop
+endfacet
+facet normal 0.109841 -0.552208 0.826439
+outer loop
+vertex 0.000000 -0.382684 0.923879
+vertex 0.270598 -0.653282 0.707107
+vertex 0.146447 -0.353554 0.923879
+endloop
+endfacet
+facet normal -0.109841 -0.552209 0.826438
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