diff --git a/.bcr/metadata.template.json b/.bcr/metadata.template.json
new file mode 100644
index 00000000..6c48d171
--- /dev/null
+++ b/.bcr/metadata.template.json
@@ -0,0 +1,22 @@
+{
+    "homepage": "https://github.com/gazebosim/gz-sensors",
+    "maintainers": [
+        {
+            "email": "iche@intrinsic.ai",
+            "github": "iche033",
+            "github_user_id": 4000684,
+            "name": "Ian Chen"
+        },
+        {
+            "email": "shameek@intrinsic.ai",
+            "github": "shameekganguly",
+            "github_user_id": 2412842,
+            "name": "Shameek Ganguly"
+        }
+    ],
+    "repository": [
+        "github:gazebosim/gz-sensors"
+    ],
+    "versions": [],
+    "yanked_versions": {}
+}
diff --git a/.bcr/presubmit.yml b/.bcr/presubmit.yml
new file mode 100644
index 00000000..f10db936
--- /dev/null
+++ b/.bcr/presubmit.yml
@@ -0,0 +1,19 @@
+matrix:
+  platform:
+  - ubuntu2204
+  - macos
+  - macos_arm64
+  bazel:
+  - 8.x
+  - 7.x
+tasks:
+  verify_targets:
+    name: Verify build targets
+    platform: ${{ platform }}
+    bazel: ${{ bazel }}
+    build_flags:
+    - '--cxxopt=-std=c++17'
+    - '--host_cxxopt=-std=c++17'
+    build_targets:
+    - '@gz-sensors'
+    - '@gz-sensors//:gz-sensors-all'
diff --git a/.bcr/source.template.json b/.bcr/source.template.json
new file mode 100644
index 00000000..e68c53b4
--- /dev/null
+++ b/.bcr/source.template.json
@@ -0,0 +1,5 @@
+{
+  "integrity": "",
+  "strip_prefix": "{REPO}-{TAG}",
+  "url": "https://github.com/{OWNER}/{REPO}/archive/refs/tags/{TAG}.tar.gz"
+}
diff --git a/.github/workflows/publish.yaml b/.github/workflows/publish.yaml
new file mode 100644
index 00000000..67368a88
--- /dev/null
+++ b/.github/workflows/publish.yaml
@@ -0,0 +1,44 @@
+# Publish new releases to Bazel Central Registry.
+name: Publish to BCR
+on:
+  # For now, the workflow must be manually triggered.
+  workflow_dispatch:
+    inputs:
+      tag_name:
+        description: git tag being released
+        required: true
+        type: string
+jobs:
+  # The publish-to-bcr reusable workflow expects the version name to be in
+  # semver-(optional build metadata postfix) format, but the repo tags are in
+  # branch_semver-postfix format. This job extracts the branch name as a prefix
+  # to pass to publish-to-bcr.
+  extract_tag_prefix:
+    runs-on: ubuntu-latest
+    outputs:
+      prefix: ${{ steps.extract.outputs.prefix }}
+    steps:
+      - name: Extract the tag prefix from the tag name.
+        id: extract
+        run: |
+          branch=$(echo "${{ inputs.tag_name }}" | cut -d'_' -f1)
+          prefix="${branch}_"
+          echo "prefix=${prefix}" | tee -a "$GITHUB_OUTPUT"
+
+  publish:
+    needs: extract_tag_prefix
+    uses: bazel-contrib/publish-to-bcr/.github/workflows/publish.yaml@v1.0.0
+    with:
+      tag_name: ${{ inputs.tag_name }}
+      # GitHub repository which is a fork of the upstream where the Pull Request will be opened.
+      registry_fork: gazebo-forks/bazel-central-registry
+      attest: false
+      tag_prefix: ${{ needs.extract_tag_prefix.outputs.prefix }}
+
+    permissions:
+      attestations: write
+      contents: write
+      id-token: write
+    secrets:
+      # Necessary to push to the BCR fork, and to open a pull request against a registry
+      publish_token: ${{ secrets.publish_token || secrets.BCR_PUBLISH_TOKEN }}