diff --git a/doc/release/master.md b/doc/release/master.md
index 286dba5539..338baaa18e 100644
--- a/doc/release/master.md
+++ b/doc/release/master.md
@@ -37,6 +37,11 @@ New Features
 
 * Added LLM_Message data type to propagate LLM answers
 
+#### Docker
+* Added two parameters to yarp `Dockerfile`:
+  * `base_img` to allow starting from different parent images
+  * `yarp_branch` to set the yarp version the users might need in their image
+
 ### Devices
 
 #### controlboardremapper
diff --git a/docker/Dockerfile b/docker/Dockerfile
index ed38aa6540..4dcc0164b4 100644
--- a/docker/Dockerfile
+++ b/docker/Dockerfile
@@ -1,4 +1,5 @@
-FROM ubuntu:22.04
+ARG base_img=ubuntu:22.04
+FROM ${base_img}
 LABEL maintainer="Marco Randazzo"
 
 # Non-interactive installation mode
@@ -116,9 +117,10 @@ RUN cd ycm && mkdir build && cd build && \
 ENV YCM_DIR=/home/user1/robotology/ycm/build
 
 # Build YARP
+ARG yarp_branch=master
 USER $robotology_install_user
 WORKDIR $robotology_install_folder
-RUN git clone https://github.com/robotology/yarp.git -b master
+RUN git clone https://github.com/robotology/yarp.git -b ${yarp_branch}
 RUN cd yarp && mkdir build && cd build && \
     cmake .. \
     -DCMAKE_BUILD_TYPE=Release \