diff --git a/src/jaxsim/api/actuation_model.py b/src/jaxsim/api/actuation_model.py
index 3706f1a9e..76d221c37 100644
--- a/src/jaxsim/api/actuation_model.py
+++ b/src/jaxsim/api/actuation_model.py
@@ -71,7 +71,8 @@ def compute_resultant_torques(
 
     τ_friction = jnp.zeros_like(τ_references).astype(float)
 
-    if model.dofs() > 0:
+    # Apply joint friction only if enabled in the actuation parameters.
+    if model.dofs() > 0 and model.actuation_params.enable_friction:
 
         # Static and viscous joint friction parameters
         kc = jnp.array(
diff --git a/src/jaxsim/rbda/actuation/common.py b/src/jaxsim/rbda/actuation/common.py
index d3d7518ae..723eb4153 100644
--- a/src/jaxsim/rbda/actuation/common.py
+++ b/src/jaxsim/rbda/actuation/common.py
@@ -1,6 +1,7 @@
 import dataclasses
 
 import jax_dataclasses
+from jax_dataclasses import Static
 
 import jaxsim.typing as jtp
 from jaxsim.utils import JaxsimDataclass
@@ -15,3 +16,4 @@ class ActuationParams(JaxsimDataclass):
     torque_max: jtp.Float = dataclasses.field(default=3000.0)  # (Nm)
     omega_th: jtp.Float = dataclasses.field(default=30.0)  # (rad/s)
     omega_max: jtp.Float = dataclasses.field(default=100.0)  # (rad/s)
+    enable_friction: Static[bool] = dataclasses.field(default=True)