diff --git a/.clang-tidy b/.clang-tidy
index f194f955b2d..beb41ece247 100644
--- a/.clang-tidy
+++ b/.clang-tidy
@@ -1,4 +1,5 @@
 Checks: '-*,readability-*,-readability-named-parameter,-readability-avoid-const-params-in-decls,-readability-else-after-return,performance-*,-readability-redundant-access-specifiers,hicpp-*,-hicpp-named-parameter,-hicpp-avoid-c-arrays,cppcoreguidelines-*,-hicpp-no-array-decay,-hicpp-signed-bitwise,-hicpp-vararg,-cppcoreguidelines-avoid-c-arrays,-cppcoreguidelines-pro-bounds-constant-array-index,-cppcoreguidelines-pro-bounds-array-to-pointer-decay,-cppcoreguidelines-pro-type-vararg,concurrency-*,clang-analyzer-*,cert-*,bugprone-*'
+WarningsAsErrors: '-*,readability-*,-readability-named-parameter,-readability-avoid-const-params-in-decls,-readability-else-after-return,performance-*,-readability-redundant-access-specifiers,hicpp-*,-hicpp-named-parameter,-hicpp-avoid-c-arrays,cppcoreguidelines-*,-hicpp-no-array-decay,-hicpp-signed-bitwise,-hicpp-vararg,-cppcoreguidelines-avoid-c-arrays,-cppcoreguidelines-pro-bounds-constant-array-index,-cppcoreguidelines-pro-bounds-array-to-pointer-decay,-cppcoreguidelines-pro-type-vararg,concurrency-*,clang-analyzer-*,cert-*,bugprone-*'
 CheckOptions:
   - { key: readability-identifier-naming.ClassCase,               value: CamelCase }
   - { key: readability-identifier-naming.EnumCase,                value: CamelCase }
diff --git a/.github/workflows/tidy.yml b/.github/workflows/tidy.yml
new file mode 100644
index 00000000000..ee8d8991343
--- /dev/null
+++ b/.github/workflows/tidy.yml
@@ -0,0 +1,35 @@
+name: Check with clang-tidy
+
+on:
+  push:
+    branches: [ master ]
+  pull_request:
+    branches: [ master, release* ]
+
+jobs:
+  clang-tidy:
+    runs-on: ubuntu-20.04
+
+    steps:
+      - name: compiler versions
+        run: |
+          echo $(gcc --version)
+          echo $(clang --version)
+
+      - name: Install iceoryx dependencies and clang-tidy
+        # Softwares installed in ubuntu-20.04 instance
+        # https://github.com/actions/virtual-environments/blob/master/images/linux/Ubuntu2004-README.md
+        run: sudo apt-get update && sudo apt-get install -y libacl1-dev libncurses5-dev clang-tidy-10
+
+      - name: Checkout
+        uses: actions/checkout@v2
+
+      - name: Build
+        env:
+          CC:   clang-10
+          CXX:  clang++-10
+        run: |
+          $GITHUB_WORKSPACE/tools/iceoryx_build_test.sh
+
+      - name: Run clang-tidy
+        run: ./tools/check_clang_tidy.sh
diff --git a/tools/check_clang_tidy.sh b/tools/check_clang_tidy.sh
new file mode 100755
index 00000000000..09be69166ba
--- /dev/null
+++ b/tools/check_clang_tidy.sh
@@ -0,0 +1,15 @@
+#!/bin/bash
+set -e
+
+fail() {
+    printf "\033[1;31merror: %s: %s\033[0m\n" ${FUNCNAME[1]} "${1:-"Unknown error"}"
+    exit 1
+}
+
+hash run-clang-tidy-10.py || fail "run-clang-tidy-10.py not found"
+cd $(git rev-parse --show-toplevel)
+[ -f build/compile_commands.json ] || fail "build/compile_commands.json not found"
+# TODO: only process files change in PR
+# https://dev.to/scienta/get-changed-files-in-github-actions-1p36
+FILES=$(git ls-files | grep -E "\.(c|cpp)$" | grep -E -v '/(test|testing)/')
+run-clang-tidy-12.py -p build $FILES