diff --git a/src/jaxsim/exceptions.py b/src/jaxsim/exceptions.py
new file mode 100644
index 000000000..8b127494d
--- /dev/null
+++ b/src/jaxsim/exceptions.py
@@ -0,0 +1,63 @@
+import jax
+
+
+def raise_if(
+    condition: bool | jax.Array, exception: type, msg: str, *args, **kwargs
+) -> None:
+    """
+    Raise a host-side exception if a condition is met. Useful in jit-compiled functions.
+
+    Args:
+        condition:
+            The boolean condition of the evaluated expression that triggers
+            the exception during runtime.
+        exception: The type of exception to raise.
+        msg:
+            The message to display when the exception is raised. The message can be a
+            format string (fmt), whose fields are filled with the args and kwargs.
+    """
+
+    # Check early that the format string is well-formed.
+    try:
+        _ = msg.format(*args, **kwargs)
+    except Exception as e:
+        msg = "Error in formatting exception message with args={} and kwargs={}"
+        raise ValueError(msg.format(args, kwargs)) from e
+
+    def _raise_exception(condition: bool, *args, **kwargs) -> None:
+        """The function called by the JAX callback."""
+
+        if condition:
+            raise exception(msg.format(*args, **kwargs))
+
+    def _callback(args, kwargs) -> None:
+        """The function that calls the JAX callback, executed only when needed."""
+
+        jax.debug.callback(_raise_exception, condition, *args, **kwargs)
+
+    # Since running a callable on the host is expensive, we prevent its execution
+    # if the condition is False with a low-level conditional expression.
+    def _run_callback_only_if_condition_is_true(*args, **kwargs) -> None:
+        return jax.lax.cond(
+            condition,
+            _callback,
+            lambda args, kwargs: None,
+            args,
+            kwargs,
+        )
+
+    return _run_callback_only_if_condition_is_true(*args, **kwargs)
+
+
+def raise_runtime_error_if(
+    condition: bool | jax.Array, msg: str, *args, **kwargs
+) -> None:
+
+    return raise_if(condition, RuntimeError, msg, *args, **kwargs)
+
+
+def raise_value_error_if(
+    condition: bool | jax.Array, msg: str, *args, **kwargs
+) -> None:
+
+    return raise_if(condition, ValueError, msg, *args, **kwargs)
diff --git a/tests/test_exceptions.py b/tests/test_exceptions.py
new file mode 100644
index 000000000..c2700e70f
--- /dev/null
+++ b/tests/test_exceptions.py
@@ -0,0 +1,88 @@
+import io
+from contextlib import redirect_stdout
+
+import jax
+import jax.numpy as jnp
+import jaxlib.xla_extension
+import pytest
+
+from jaxsim import exceptions
+
+
+def test_exceptions_in_jit_functions():
+
+    msg_during_jit = "Compiling jit_compiled_function"
+
+    @jax.jit
+    def jit_compiled_function(data: jax.Array) -> jax.Array:
+
+        # This message is compiled only during JIT compilation.
+        print(msg_during_jit)
+
+        # Condition that will trigger the exception.
+        failed_if_42_plus = jnp.allclose(data, 42)
+
+        # Raise a ValueError if the condition is met.
+        # The fmt string is built from kwargs.
+        exceptions.raise_value_error_if(
+            condition=failed_if_42_plus,
+            msg="Raising ValueError since data={num}",
+            num=data,
+        )
+
+        # Condition that will trigger the exception.
+        failed_if_42_minus = jnp.allclose(data, -42)
+
+        # Raise a RuntimeError if the condition is met.
+        # The fmt string is built from args.
+        exceptions.raise_runtime_error_if(
+            failed_if_42_minus,
+            "Raising RuntimeError since data={}",
+            data,
+        )
+
+        return data
+
+    # In the first call, the function will be compiled and print the message.
+    with jax.log_compiles():
+        with io.StringIO() as buf, redirect_stdout(buf):
+
+            data = 40
+            out = jit_compiled_function(data=data)
+            stdout = buf.getvalue()
+            assert out == data
+
+    assert msg_during_jit in stdout
+    assert jit_compiled_function._cache_size() == 1
+
+    # In the second call, the function won't be compiled and won't print the message.
+    with jax.log_compiles():
+        with io.StringIO() as buf, redirect_stdout(buf):
+
+            data = 41
+            out = jit_compiled_function(data=data)
+            stdout = buf.getvalue()
+            assert out == data
+
+    assert msg_during_jit not in stdout
+    assert jit_compiled_function._cache_size() == 1
+
+    # Let's trigger a ValueError exception by passing 42.
+    # Note: the real ValueError is printed in a stream that I couldn't figure out
+    # how to capture in pytest.
+    with pytest.raises(jaxlib.xla_extension.XlaRuntimeError):
+
+        data = 42
+        _ = jit_compiled_function(data=data)
+
+    assert jit_compiled_function._cache_size() == 1
+
+    # Let's trigger a RuntimeError exception by passing -42.
+    # Note: the real RuntimeError is printed in a stream that I couldn't figure out
+    # how to capture in pytest.
+    with pytest.raises(jaxlib.xla_extension.XlaRuntimeError):
+
+        data = -42
+        _ = jit_compiled_function(data=data)
+
+    assert jit_compiled_function._cache_size() == 1