diff --git a/CMakeLists.txt b/CMakeLists.txt
index 271a48e..8b06706 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -37,11 +37,13 @@ if(NOT GZ_UTILS_VENDOR_CLI11)
   gz_find_package(CLI11 REQUIRED_BY cli PKGCONFIG_IGNORE)
 endif()
 
+gz_find_package(spdlog REQUIRED_BY logger)
+
 #============================================================================
 # Configure the build
 #============================================================================
 gz_configure_build(QUIT_IF_BUILD_ERRORS
-  COMPONENTS cli)
+  COMPONENTS cli logger)
 
 #============================================================================
 # Create package information
diff --git a/cli/src/CMakeLists.txt b/cli/src/CMakeLists.txt
index 1d3ef22..3213d75 100644
--- a/cli/src/CMakeLists.txt
+++ b/cli/src/CMakeLists.txt
@@ -2,6 +2,7 @@ gz_add_component(
   cli
   INTERFACE
   INDEPENDENT_FROM_PROJECT_LIB
+  LIB_DEPS spdlog::spdlog
   GET_TARGET_NAME gz_utils_cli_target_name)
 
 # Make sure that the name is visible also in cli/include/CMakeLists.txt
diff --git a/logger/include/CMakeLists.txt b/logger/include/CMakeLists.txt
new file mode 100644
index 0000000..e69de29
diff --git a/logger/include/gz/utils/CMakeLists.txt b/logger/include/gz/utils/CMakeLists.txt
new file mode 100644
index 0000000..646d386
--- /dev/null
+++ b/logger/include/gz/utils/CMakeLists.txt
@@ -0,0 +1 @@
+gz_install_all_headers(COMPONENT logger)
diff --git a/logger/include/gz/utils/logger/LogMessage.hh b/logger/include/gz/utils/logger/LogMessage.hh
new file mode 100644
index 0000000..016ddf5
--- /dev/null
+++ b/logger/include/gz/utils/logger/LogMessage.hh
@@ -0,0 +1,58 @@
+/*
+ * Copyright (C) 2024 Open Source Robotics Foundation
+ *
+ * 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 GZ_UTILS_LOGGER_LOGMESSAGE_HH_
+#define GZ_UTILS_LOGGER_LOGMESSAGE_HH_
+
+#include <spdlog/spdlog.h>
+
+#include <iosfwd>
+#include <sstream>
+
+namespace gz::utils::logger
+{
+
+class LogMessage
+{
+  /// \brief Constructor.
+  /// \param[in] _logLevel Log level.
+  public: explicit LogMessage(spdlog::level::level_enum _logLevel,
+                      const char *_logger = nullptr,
+                      const char *_file = nullptr,
+                      int _line = -1);
+
+  /// \brief Destructor.
+  public: ~LogMessage();
+
+  /// \brief Get access to the underlying stream.
+  /// \return The underlying stream.
+  public: std::ostream &stream();
+
+  /// \brief Log level.
+  private: spdlog::level::level_enum severity;
+
+  private: std::shared_ptr<spdlog::logger> logger;
+
+  /// \brief Source file location information.
+  private: spdlog::source_loc sourceLocation;
+
+  /// \brief Underlying stream.
+  private: std::ostringstream ss;
+};
+}  // namespace gz::utils::logger
+
+#endif  // GZ_UTILS_LOGGER_LOGMESSAGE_HH_
diff --git a/logger/include/gz/utils/logger/SplitSink.hh b/logger/include/gz/utils/logger/SplitSink.hh
new file mode 100644
index 0000000..94ecc9a
--- /dev/null
+++ b/logger/include/gz/utils/logger/SplitSink.hh
@@ -0,0 +1,168 @@
+/*
+ * Copyright (C) 2024 Open Source Robotics Foundation
+ *
+ * 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 GZ_UTILS_LOGGER_SPLITSINK_HH_
+#define GZ_UTILS_LOGGER_SPLITSINK_HH_
+
+#include <string>
+
+#include <spdlog/details/log_msg.h>
+#include <spdlog/details/null_mutex.h>
+#include <spdlog/details/console_globals.h>
+#include <spdlog/pattern_formatter.h>
+
+#include <spdlog/sinks/base_sink.h>
+#include <spdlog/sinks/ringbuffer_sink.h>
+#include <spdlog/sinks/stdout_color_sinks.h>
+
+namespace gz::utils::logger
+{
+/// \brief Logging sink for spdlog that logs in Gazebo-conventions
+///
+/// This will route messages with severity (warn, err, critical) to stderr,
+/// and all other levels (info, debug, trace) to stdout
+template<typename Mutex>
+class SplitConsoleSink : public spdlog::sinks::base_sink<Mutex>
+{
+  public: SplitConsoleSink() = default;
+  public: SplitConsoleSink(const SplitConsoleSink &) = delete;
+  public: SplitConsoleSink &operator=(const SplitConsoleSink &) = delete;
+
+  protected: void sink_it_(const spdlog::details::log_msg &_msg) override
+  {
+    if (!this->should_log(_msg.level))
+    {
+      return;
+    }
+
+    if (_msg.level == spdlog::level::warn       ||
+        _msg.level == spdlog::level::err        ||
+        _msg.level == spdlog::level::critical)
+    {
+      this->stderr.log(_msg);
+    }
+    else
+      this->stdout.log(_msg);
+  }
+
+  protected: void flush_() override
+  {
+    this->stdout.flush();
+    this->stderr.flush();
+  }
+
+  void set_pattern_(const std::string &pattern) override
+  {
+    this->set_formatter_(spdlog::details::make_unique<spdlog::pattern_formatter>(pattern));
+  }
+
+  void set_formatter_(std::unique_ptr<spdlog::formatter> sink_formatter) override
+  {
+    spdlog::sinks::base_sink<Mutex>::formatter_ = std::move(sink_formatter);
+    this->stdout.set_formatter(spdlog::sinks::base_sink<Mutex>::formatter_->clone());
+    this->stderr.set_formatter(spdlog::sinks::base_sink<Mutex>::formatter_->clone());
+  }
+
+  /// \brief Standard output.
+  private: spdlog::sinks::stdout_color_sink_st stdout;
+
+  /// \brief Standard error.
+  private: spdlog::sinks::stderr_color_sink_st stderr;
+};
+
+using SplitConsoleSinkMt = SplitConsoleSink<std::mutex>;
+using SplitConsoleSinkSt = SplitConsoleSink<spdlog::details::null_mutex>;
+
+/// \brief Logging sink for spdlog that logs in Gazebo-conventions
+///
+/// This will route messages with severity (warn, err, critical) to stderr,
+/// and all other levels (info, debug, trace) to stdout
+template<typename Mutex, size_t n_items>
+class SplitRingBufferSink: public spdlog::sinks::base_sink<Mutex>
+{
+  public: SplitRingBufferSink() = default;
+  public: SplitRingBufferSink(const SplitRingBufferSink &) = delete;
+  public: SplitRingBufferSink &operator=(const SplitRingBufferSink &) = delete;
+
+  public: std::vector<spdlog::details::log_msg_buffer> last_raw_stdout(size_t lim = 0)
+  {
+    return this->stdout.last_raw(lim);
+  }
+
+  public: std::vector<spdlog::details::log_msg_buffer> last_raw_stderr(size_t lim = 0)
+  {
+    return this->stderr.last_raw(lim);
+  }
+
+  public: std::vector<std::string> last_formatted_stdout(size_t lim = 0)
+  {
+    return this->stdout.last_formatted(lim);
+  }
+
+  public: std::vector<std::string> last_formatted_stderr(size_t lim = 0)
+  {
+    return this->stderr.last_formatted(lim);
+  }
+
+  protected: void sink_it_(const spdlog::details::log_msg &_msg) override
+  {
+    if (!this->should_log(_msg.level))
+    {
+      return;
+    }
+
+    if (_msg.level == spdlog::level::warn       ||
+        _msg.level == spdlog::level::err        ||
+        _msg.level == spdlog::level::critical)
+    {
+      this->stderr.log(_msg);
+    }
+    else
+      this->stdout.log(_msg);
+  }
+
+  protected: void flush_() override
+  {
+    this->stdout.flush();
+    this->stderr.flush();
+  }
+
+  protected: void set_pattern_(const std::string &pattern) override
+  {
+    this->set_formatter_(spdlog::details::make_unique<spdlog::pattern_formatter>(pattern));
+  }
+
+  protected: void set_formatter_(std::unique_ptr<spdlog::formatter> sink_formatter) override
+  {
+    spdlog::sinks::base_sink<Mutex>::formatter_ = std::move(sink_formatter);
+    this->stdout.set_formatter(spdlog::sinks::base_sink<Mutex>::formatter_->clone());
+    this->stderr.set_formatter(spdlog::sinks::base_sink<Mutex>::formatter_->clone());
+  }
+
+
+  /// \brief Standard output.
+  private: spdlog::sinks::ringbuffer_sink_st stdout {n_items};
+
+  /// \brief Standard error.
+  private: spdlog::sinks::ringbuffer_sink_st stderr {n_items};
+};
+
+template <size_t n_items>
+using SplitRingBufferSinkMt = SplitRingBufferSink<std::mutex, n_items>;
+
+}  // namespace gz::utils::logger
+#endif  // GZ_UTILS_LOGGER_SPLITSINK_HH__
diff --git a/logger/src/CMakeLists.txt b/logger/src/CMakeLists.txt
new file mode 100644
index 0000000..df5ab44
--- /dev/null
+++ b/logger/src/CMakeLists.txt
@@ -0,0 +1,14 @@
+gz_get_libsources_and_unittests(sources gtest_sources)
+
+gz_add_component(
+  logger
+  SOURCES ${sources}
+  INDEPENDENT_FROM_PROJECT_LIB
+  GET_TARGET_NAME gz_utils_logger_target_name)
+
+target_link_libraries(${gz_utils_logger_target_name} PUBLIC spdlog::spdlog)
+
+gz_build_tests(TYPE UNIT
+  SOURCES ${gtest_sources}
+  LIB_DEPS ${gz_utils_logger_target_name}
+)
diff --git a/logger/src/LogMessage.cc b/logger/src/LogMessage.cc
new file mode 100644
index 0000000..98d0024
--- /dev/null
+++ b/logger/src/LogMessage.cc
@@ -0,0 +1,50 @@
+/*
+ * Copyright (C) 2024 Open Source Robotics Foundation
+ *
+ * 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 <spdlog/spdlog.h>
+#include <gz/utils/logger/LogMessage.hh>
+
+namespace gz::utils::logger
+{
+/////////////////////////////////////////////////
+LogMessage::LogMessage(spdlog::level::level_enum _logLevel,
+                      const char *_logger,
+                      const char *_file,
+                      int _line):
+  severity(_logLevel),
+  logger(_logger == nullptr ? spdlog::default_logger() : spdlog::get(_logger)),
+  sourceLocation(_file, _line, "")
+{
+}
+
+/////////////////////////////////////////////////
+LogMessage::~LogMessage()
+{
+  if (sourceLocation.filename != nullptr)
+  {
+    logger->log(this->sourceLocation, this->severity, this->ss.str());
+  } else {
+    logger->log(this->severity, this->ss.str());
+  }
+}
+/////////////////////////////////////////////////
+std::ostream &LogMessage::stream()
+{
+  return this->ss;
+}
+
+}  // namespace gz::utils::logger
diff --git a/logger/src/SplitSink_TEST.cc b/logger/src/SplitSink_TEST.cc
new file mode 100644
index 0000000..e004765
--- /dev/null
+++ b/logger/src/SplitSink_TEST.cc
@@ -0,0 +1,69 @@
+/*
+ * Copyright (C) 2024 Open Source Robotics Foundation
+ *
+ * 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 <gtest/gtest.h>
+
+#include <spdlog/logger.h>
+
+#include <gz/utils/logger/SplitSink.hh>
+
+/////////////////////////////////////////////////
+TEST(SplitConsoleSink, foo)
+{
+  auto split_sink = std::make_shared<gz::utils::logger::SplitConsoleSinkMt>();
+
+  spdlog::logger logger("split_sink", {split_sink});
+  logger.set_level(spdlog::level::trace);
+
+  logger.trace("trace");
+  logger.debug("debug");
+  logger.info("info");
+  logger.warn("warn");
+  logger.error("error");
+  logger.critical("critical");
+}
+
+/////////////////////////////////////////////////
+TEST(SplitRingBufferSink, foo)
+{
+  auto split_sink = std::make_shared<gz::utils::logger::SplitRingBufferSinkMt<100>>();
+  auto split_sink_console = std::make_shared<gz::utils::logger::SplitConsoleSinkMt>();
+
+  spdlog::logger logger("split_sink", {split_sink, split_sink_console});
+  logger.set_level(spdlog::level::trace);
+
+  logger.trace("trace");
+  logger.debug("debug");
+  logger.info("info");
+  logger.warn("warn");
+  logger.error("error");
+  logger.critical("critical");
+
+  {
+    auto logs = split_sink->last_raw_stdout();
+    EXPECT_EQ(logs[0].payload, "trace");
+    EXPECT_EQ(logs[1].payload, "debug");
+    EXPECT_EQ(logs[2].payload, "info");
+  }
+
+  {
+    auto logs = split_sink->last_raw_stderr();
+    EXPECT_EQ(logs[0].payload, "warn");
+    EXPECT_EQ(logs[1].payload, "error");
+    EXPECT_EQ(logs[2].payload, "critical");
+  }
+}