diff --git a/ports/behaviortree-cpp/001_port_fixes.patch b/ports/behaviortree-cpp/001_port_fixes.patch
new file mode 100644
index 00000000000000..3cb4ac29ed32a8
--- /dev/null
+++ b/ports/behaviortree-cpp/001_port_fixes.patch
@@ -0,0 +1,13 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 75dea11..4eea781 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -229,7 +229,7 @@ if( ZMQ_FOUND )
+ endif()
+ 
+ if(MSVC)
+-    target_compile_options(${BEHAVIOR_TREE_LIBRARY} PRIVATE /W4 /WX)
++    target_compile_options(${BEHAVIOR_TREE_LIBRARY} PRIVATE /W4 /wd4702)
+ else()
+     target_compile_options(${BEHAVIOR_TREE_LIBRARY} PRIVATE
+         -Wall -Wextra -Werror=return-type)
diff --git a/ports/behaviortree-cpp/portfile.cmake b/ports/behaviortree-cpp/portfile.cmake
new file mode 100644
index 00000000000000..a5baff43cd0de4
--- /dev/null
+++ b/ports/behaviortree-cpp/portfile.cmake
@@ -0,0 +1,49 @@
+vcpkg_fail_port_install(ON_TARGET "UWP")
+
+vcpkg_check_linkage(ONLY_STATIC_LIBRARY)
+
+vcpkg_download_distfile(ARCHIVE
+    URLS "https://github.com/BehaviorTree/BehaviorTree.CPP/archive/3.5.1.tar.gz"
+    FILENAME "BehaviorTree.CPP.3.5.1.tar.gz"
+    SHA512 66db43225e692fa0f9073e63bdff765c037440372478792a9b442103a8bed945f5c3ae1d66266b86cb41d0006404a8297708a799ec0c7286c2beec6f964a4ac6
+)
+
+vcpkg_extract_source_archive_ex(
+    OUT_SOURCE_PATH SOURCE_PATH
+    ARCHIVE ${ARCHIVE}
+    PATCHES
+        001_port_fixes.patch
+)
+
+vcpkg_configure_cmake(
+    SOURCE_PATH ${SOURCE_PATH}
+    PREFER_NINJA
+)
+
+vcpkg_install_cmake()
+
+vcpkg_copy_pdbs()
+
+set(TOOLS bt3_log_cat bt3_plugin_manifest)
+
+foreach(tool ${TOOLS})
+    set(suffix ${VCPKG_TARGET_EXECUTABLE_SUFFIX})
+    if(EXISTS "${CURRENT_PACKAGES_DIR}/debug/bin/${tool}${suffix}")
+        file(REMOVE "${CURRENT_PACKAGES_DIR}/debug/bin/${tool}${suffix}")
+    endif()
+    if(EXISTS "${CURRENT_PACKAGES_DIR}/bin/${tool}${suffix}")
+        file(INSTALL "${CURRENT_PACKAGES_DIR}/bin/${tool}${suffix}"
+                     DESTINATION "${CURRENT_PACKAGES_DIR}/tools/${PORT}")
+        file(REMOVE "${CURRENT_PACKAGES_DIR}/bin/${tool}${suffix}")
+    endif()
+endforeach()
+
+vcpkg_copy_tool_dependencies(${CURRENT_PACKAGES_DIR}/tools/${PORT})
+
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/bin" "${CURRENT_PACKAGES_DIR}/debug/bin")
+
+file(INSTALL ${SOURCE_PATH}/LICENSE DESTINATION ${CURRENT_PACKAGES_DIR}/share/${PORT} RENAME copyright)
+
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/include")
+
+vcpkg_test_cmake(PACKAGE_NAME BehaviorTreeV3)
diff --git a/ports/behaviortree-cpp/vcpkg.json b/ports/behaviortree-cpp/vcpkg.json
new file mode 100644
index 00000000000000..f14ea22da56f68
--- /dev/null
+++ b/ports/behaviortree-cpp/vcpkg.json
@@ -0,0 +1,10 @@
+{
+  "name": "behaviortree-cpp",
+  "version-string": "3.5.1",
+  "description": "Behavior Trees Library in C++.",
+  "homepage": "https://www.behaviortree.dev",
+  "supports": "!uwp & !osx",
+  "dependencies": [
+    "boost-coroutine2"
+  ]
+}