diff --git a/ports/idyntree/portfile.cmake b/ports/idyntree/portfile.cmake
index 08825885d9..da86209605 100644
--- a/ports/idyntree/portfile.cmake
+++ b/ports/idyntree/portfile.cmake
@@ -2,7 +2,7 @@ vcpkg_from_github(
     OUT_SOURCE_PATH SOURCE_PATH
     REPO robotology/idyntree
     REF "v${VERSION}"
-    SHA512 7a65324d3a9f502b43f4ccc84747e3c26a6bbf4323199e0f5849311b20339800892f4345bfed9d02a5accb1f56b4984a34695bada1fc73b91057c1b09e4e24a6
+    SHA512 b0cd7937048f0ad6a6cf66369d558733f352cc33247b111b6fb74a1da4e907de2d572f0b1d1316176fac0b8bc9b3de2fb06f4df118766de90156aaf4c621d1d2
     HEAD_REF master
 )
 
diff --git a/ports/idyntree/vcpkg.json b/ports/idyntree/vcpkg.json
index 944d515953..bd5c2d6464 100644
--- a/ports/idyntree/vcpkg.json
+++ b/ports/idyntree/vcpkg.json
@@ -1,6 +1,6 @@
 {
   "name": "idyntree",
-  "version": "12.4.0",
+  "version": "14.0.0",
   "description": "Multibody Dynamics Library designed for Free Floating Robots.",
   "homepage": "https://github.com/robotology/idyntree",
   "license": "BSD-3-Clause",
@@ -29,7 +29,7 @@
     },
     "irrlicht": {
       "description": "Add support for irrlicht-based visualizer",
-      "supports": "!windows",
+      "supports": "!windows & !osx",
       "dependencies": [
         "glfw3",
         "irrlicht"
diff --git a/scripts/ci.feature.baseline.txt b/scripts/ci.feature.baseline.txt
index a2bc8b03b0..0bddb2d6f6 100644
--- a/scripts/ci.feature.baseline.txt
+++ b/scripts/ci.feature.baseline.txt
@@ -685,9 +685,6 @@ idevicerestore:arm64-windows = cascade
 idevicerestore:x64-uwp = cascade
 idevicerestore:x64-windows-static = cascade
 idevicerestore:x64-windows-static-md = cascade
-idyntree[assimp]:arm64-uwp = cascade
-idyntree[assimp]:x64-uwp = cascade
-idyntree[irrlicht]:arm64-osx = cascade
 ignition-common1:arm64-osx = cascade
 ignition-common1:arm64-uwp = cascade
 ignition-common1:x64-uwp = cascade
diff --git a/versions/baseline.json b/versions/baseline.json
index d10b005e29..62ea414417 100644
--- a/versions/baseline.json
+++ b/versions/baseline.json
@@ -3845,7 +3845,7 @@
       "port-version": 0
     },
     "idyntree": {
-      "baseline": "12.4.0",
+      "baseline": "14.0.0",
       "port-version": 0
     },
     "if97": {
diff --git a/versions/i-/idyntree.json b/versions/i-/idyntree.json
index 37fcc24a9c..005821543a 100644
--- a/versions/i-/idyntree.json
+++ b/versions/i-/idyntree.json
@@ -1,5 +1,10 @@
 {
   "versions": [
+    {
+      "git-tree": "62d8c038b42100c348cfc8c475bd7bee322d717a",
+      "version": "14.0.0",
+      "port-version": 0
+    },
     {
       "git-tree": "c03e45e898b3de24c62572cb4ca915b2f974bdd6",
       "version": "12.4.0",