diff --git a/package/eigen/eigen.mk b/package/eigen/eigen.mk
index dd88fde45f..3eb858ad8d 100644
--- a/package/eigen/eigen.mk
+++ b/package/eigen/eigen.mk
@@ -20,6 +20,13 @@ define EIGEN_INSTALL_UNSUPPORTED_MODULES_CMDS
 endef
 endif
 
+# Generate the .pc file at build time
+define EIGEN_BUILD_CMDS
+	sed -r -e 's,^Version: .*,Version: $(EIGEN_VERSION),' \
+	       -e 's,^Cflags: .*,Cflags: -I$(EIGEN_DEST_DIR),' \
+	       $(@D)/eigen3.pc.in >$(@D)/eigen3.pc
+endef
+
 # This package only consists of headers that need to be
 # copied over to the sysroot for compile time use
 define EIGEN_INSTALL_STAGING_CMDS
@@ -27,6 +34,8 @@ define EIGEN_INSTALL_STAGING_CMDS
 	mkdir -p $(EIGEN_DEST_DIR)
 	cp -a $(@D)/Eigen $(EIGEN_DEST_DIR)
 	$(EIGEN_INSTALL_UNSUPPORTED_MODULES_CMDS)
+	$(INSTALL) -D -m 0644 $(@D)/eigen3.pc \
+			      $(STAGING_DIR)/usr/lib/pkgconfig/eigen3.pc
 endef
 
 $(eval $(generic-package))