diff --git a/src/model_io/urdf/include/iDynTree/ModelIO/ModelExporter.h b/src/model_io/urdf/include/iDynTree/ModelIO/ModelExporter.h
index 9fb5195e416..d93960ed6f2 100644
--- a/src/model_io/urdf/include/iDynTree/ModelIO/ModelExporter.h
+++ b/src/model_io/urdf/include/iDynTree/ModelIO/ModelExporter.h
@@ -42,6 +42,19 @@ class ModelExporterOptions
      */
     std::string baseLink;
 
+    /**
+     * Select if the first additional frame of the base link is exported as fake base link.
+     *
+     * The URDF exporter by default exports the first additional frame of the base link as
+     * a parent "fake" link to the actual base link, as a workaround for https://github.com/ros/kdl_parser/issues/27).
+     * By setting this option to false, is possible to disable this behaviour, for more info see iDynTree::ModelExporter docs.
+     * This option is ignored in non-URDF exporter.
+     *
+     * Default value: true.
+     * Supported formats: urdf.
+     */
+    bool exportFirstBaseLinkAdditionalFrameAsFakeURDFBase{true};
+
     /**
      * Constructor.
      */
@@ -84,9 +97,10 @@ class ModelExporterOptions
  *
  * Furthermore, it is widespread use in URDF models to never use a real link (with mass) as the root link of a model, mainly
  * due to workaround a bug in official %KDL parser used in ROS (see https://github.com/ros/kdl_parser/issues/27 for more info). For this reason,
- * if the selected base_link has at least one additional frame, the first additional frame of the base link is added as a **parent** fake URDF link,
+ * if the selected base_link has at least one additional frame, by default the first additional frame of the base link is added as a **parent** fake URDF link,
  * instead as a **child** fake URDF link as done with the rest of %iDynTree's additional frames. If no additional frame is available for the base link,
  * the base link of the URDF will have a mass, and will generate a warning then used with the ROS's [`kdl_parser`](https://github.com/ros/kdl_parser) .
+ * This behaviour can be disabled by setting to false the `exportFirstBaseLinkAdditionalFrameAsFakeURDFBase` attribute of ModelExporterOptions.
  *
  */
 class ModelExporter
diff --git a/src/model_io/urdf/src/URDFModelExport.cpp b/src/model_io/urdf/src/URDFModelExport.cpp
index 05c7603c7a1..5cdba6df77c 100644
--- a/src/model_io/urdf/src/URDFModelExport.cpp
+++ b/src/model_io/urdf/src/URDFModelExport.cpp
@@ -345,11 +345,16 @@ bool URDFStringFromModel(const iDynTree::Model & model,
     }
 
     // If the base link has at least an additional frame, add it as parent URDF link
-    // as a workaround for https://github.com/ros/kdl_parser/issues/27
+    // as a workaround for https://github.com/ros/kdl_parser/issues/27, unless
+    // options.exportFirstBaseLinkAdditionalFrameAsFakeURDFBase is set to false
+    // If options.exportFirstBaseLinkAdditionalFrameAsFakeURDFBase is set to false,
+    // baseFakeLinkFrameIndex remains set to FRAME_INVALID_INDEX, a
+    // and all the additional frames of the base link get exported as child fake links 
+    // in the loop and the end of this function
     FrameIndex baseFakeLinkFrameIndex = FRAME_INVALID_INDEX;
     std::vector<FrameIndex> frameIndices;
     ok = model.getLinkAdditionalFrames(baseLinkIndex, frameIndices);
-    if (ok && frameIndices.size() >= 1) {
+    if (ok && frameIndices.size() >= 1 && options.exportFirstBaseLinkAdditionalFrameAsFakeURDFBase) {
         baseFakeLinkFrameIndex = frameIndices[0];
         ok = ok && exportAdditionalFrame(model.getFrameName(baseFakeLinkFrameIndex),
                                          model.getFrameTransform(baseFakeLinkFrameIndex),