diff --git a/CHANGELOG.md b/CHANGELOG.md
index 045ab0c5e..511564100 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -21,6 +21,7 @@
   * Updated OpenDriveActor to use the new Waypoint API
   * Fixed wrong units in VehiclePhysicsControl's center of mass
   * Several optimizations to the RPC server, now supports a bigger load of async messages
+  * Exposed 'is_invincible' for pedestrians
 
 ## CARLA 0.9.5
 
@@ -75,6 +76,7 @@
   * Fixed obstacle detector not working
   * Fixed small float bug in misc.py
 
+
 ## CARLA 0.9.4
 
   * Added recording and playback functionality
diff --git a/PythonAPI/examples/manual_control.py b/PythonAPI/examples/manual_control.py
index c121035dc..40edafeb8 100755
--- a/PythonAPI/examples/manual_control.py
+++ b/PythonAPI/examples/manual_control.py
@@ -171,6 +171,8 @@ class World(object):
         if blueprint.has_attribute('color'):
             color = random.choice(blueprint.get_attribute('color').recommended_values)
             blueprint.set_attribute('color', color)
+        if blueprint.has_attribute('is_invincible'):
+            blueprint.set_attribute('is_invincible', 'true')
         # Spawn the player.
         if self.player is not None:
             spawn_point = self.player.get_transform()
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Actor/ActorBlueprintFunctionLibrary.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Actor/ActorBlueprintFunctionLibrary.cpp
index 700081060..45f4d766b 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Actor/ActorBlueprintFunctionLibrary.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Actor/ActorBlueprintFunctionLibrary.cpp
@@ -438,6 +438,15 @@ void UActorBlueprintFunctionLibrary::MakePedestrianDefinition(
     EActorAttributeType::String,
     GetGender(Parameters.Gender)});
 
+  FActorVariation IsInvincible;
+
+  IsInvincible.Id = TEXT("is_invincible");
+  IsInvincible.Type = EActorAttributeType::Bool;
+  IsInvincible.RecommendedValues = { TEXT("true") };
+  IsInvincible.bRestrictToRecommended = false;
+
+  Definition.Variations.Emplace(IsInvincible);
+
   Success = CheckActorDefinition(Definition);
 }