diff --git a/CHANGELOG.md b/CHANGELOG.md
index 5febc3e7a1..fdf0bfe1a5 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -17,6 +17,7 @@ but cannot always guarantee backwards compatibility. Changes that may **break co
 - Added more resampling methods to `TimeSeries.resample()`. This allows to aggregate values when down-sampling and to fill or keep the holes when up-sampling. [#2654](https://github.com/unit8co/darts/pull/2654) by [Jonas Blanc](https://github.com/jonasblanc)
 - Added general function `darts.slice_intersect()` to intersect a sequence of `TimeSeries` along the time index. [#2592](https://github.com/unit8co/darts/pull/2592) by [Yoav Matzkevich](https://github.com/ymatzkevich).
 - Added new time aggregated metric `wmape()` (Weighted Mean Absolute Percentage Error). [#2544](https://github.com/unit8co/darts/pull/2648) by [He Weilin](https://github.com/cnhwl).
+- Added ONNX support for torch-based models, and an example of export and loading for inference in the User Guide. [#2620](https://github.com/unit8co/darts/pull/2620) by [Antoine Madrona](https://github.com/madtoinou)
 
 **Fixed**
 - Fixed a bug when performing optimized historical forecasts with `stride=1` using a `RegressionModel` with `output_chunk_shift>=1` and `output_chunk_length=1`, where the forecast time index was not properly shifted. [#2634](https://github.com/unit8co/darts/pull/2634) by [Mattias De Charleroy](https://github.com/MattiasDC).
diff --git a/darts/models/forecasting/pl_forecasting_module.py b/darts/models/forecasting/pl_forecasting_module.py
index 9c572e562d..1ad0b60a23 100644
--- a/darts/models/forecasting/pl_forecasting_module.py
+++ b/darts/models/forecasting/pl_forecasting_module.py
@@ -93,6 +93,7 @@ def __init__(
         When subclassing this class, please make sure to add the following methods with the given signatures:
             - :func:`PLForecastingModule.__init__()`
             - :func:`PLForecastingModule.forward()`
+            - :func:`PLForecastingModule._process_input_batch()`
             - :func:`PLForecastingModule._produce_train_output()`
             - :func:`PLForecastingModule._get_batch_prediction()`
 
@@ -583,6 +584,13 @@ def to_dtype(self, dtype):
                 logger,
             )
 
+    def to_onnx(self, file_path, input_sample=None, **kwargs):
+        if not input_sample:
+            logger.warning(
+                "It is recommended to use `TorchForecastingModel.to_onnx` method instead."
+            )
+        super().to_onnx(file_path=file_path, input_sample=input_sample, **kwargs)
+
     @property
     def epochs_trained(self):
         current_epoch = self.current_epoch
@@ -632,9 +640,41 @@ def _produce_train_output(self, input_batch: tuple):
         input_batch
             ``(past_target, past_covariates, static_covariates)``
         """
-        past_target, past_covariates, static_covariates = input_batch
+        return self(self._process_input_batch(input_batch))
+
+    def _process_input_batch(
+        self, input_batch: tuple
+    ) -> tuple[torch.Tensor, Optional[torch.Tensor]]:
+        """
+        Converts output of PastCovariatesDataset (training dataset) into an input/past- and
+        output/future chunk.
+
+        Parameters
+        ----------
+        input_batch
+            ``(past_target, past_covariates, historic_future_covariates, future_covariates, static_covariates)``.
+
+        Returns
+        -------
+        tuple
+            ``(x_past, x_static)`` the input/past and output/future chunks.
+        """
+        # because of future past covariates, the batch shape is different during training and prediction
+        if len(input_batch) == 3:
+            (
+                past_target,
+                past_covariates,
+                static_covariates,
+            ) = input_batch
+        else:
+            (
+                past_target,
+                past_covariates,
+                future_past_covariates,
+                static_covariates,
+            ) = input_batch
         # Currently all our PastCovariates models require past target and covariates concatenated
-        inpt = (
+        return (
             (
                 torch.cat([past_target, past_covariates], dim=2)
                 if past_covariates is not None
@@ -642,7 +682,6 @@ def _produce_train_output(self, input_batch: tuple):
             ),
             static_covariates,
         )
-        return self(inpt)
 
     def _get_batch_prediction(
         self, n: int, input_batch: tuple, roll_size: int
@@ -674,12 +713,9 @@ def _get_batch_prediction(
             past_covariates.shape[dim_component] if past_covariates is not None else 0
         )
 
-        input_past = torch.cat(
-            [ds for ds in [past_target, past_covariates] if ds is not None],
-            dim=dim_component,
-        )
+        input_past, input_static = self._process_input_batch(input_batch)
 
-        out = self._produce_predict_output(x=(input_past, static_covariates))[
+        out = self._produce_predict_output(x=(input_past, input_static))[
             :, self.first_prediction_index :, :
         ]
 
@@ -796,7 +832,6 @@ def _process_input_batch(
             future_covariates,
             static_covariates,
         ) = input_batch
-        dim_variable = 2
 
         x_past = torch.cat(
             [
@@ -808,7 +843,7 @@ def _process_input_batch(
                 ]
                 if tensor is not None
             ],
-            dim=dim_variable,
+            dim=2,
         )
         return x_past, future_covariates, static_covariates
 
diff --git a/darts/models/forecasting/rnn_model.py b/darts/models/forecasting/rnn_model.py
index e7d55ac9c6..d51b0a3838 100644
--- a/darts/models/forecasting/rnn_model.py
+++ b/darts/models/forecasting/rnn_model.py
@@ -104,6 +104,12 @@ def forward(
         pass
 
     def _produce_train_output(self, input_batch: tuple) -> torch.Tensor:
+        # only return the forecast, not the hidden state
+        return self(self._process_input_batch(input_batch))[0]
+
+    def _process_input_batch(
+        self, input_batch: tuple
+    ) -> tuple[torch.Tensor, Optional[torch.Tensor]]:
         (
             past_target,
             historic_future_covariates,
@@ -112,7 +118,7 @@ def _produce_train_output(self, input_batch: tuple) -> torch.Tensor:
         ) = input_batch
         # For the RNN we concatenate the past_target with the future_covariates
         # (they have the same length because we enforce a Shift dataset for RNNs)
-        model_input = (
+        return (
             (
                 torch.cat([past_target, future_covariates], dim=2)
                 if future_covariates is not None
@@ -120,7 +126,6 @@ def _produce_train_output(self, input_batch: tuple) -> torch.Tensor:
             ),
             static_covariates,
         )
-        return self(model_input)[0]
 
     def _produce_predict_output(
         self, x: tuple, last_hidden_state: Optional[torch.Tensor] = None
diff --git a/darts/models/forecasting/torch_forecasting_model.py b/darts/models/forecasting/torch_forecasting_model.py
index 89ca19401f..cbed45d86f 100644
--- a/darts/models/forecasting/torch_forecasting_model.py
+++ b/darts/models/forecasting/torch_forecasting_model.py
@@ -641,6 +641,94 @@ def _verify_past_future_covariates(self, past_covariates, future_covariates):
                 logger=logger,
             )
 
+    def to_onnx(
+        self,
+        path: Optional[str] = None,
+        input_sample: Optional[tuple] = None,
+        randomize_input_sample: bool = False,
+        **kwargs,
+    ):
+        """Export model to ONNX format for optimized inference, wrapping around PyTorch Lightning's
+        :func:`torch.onnx.export` method ()`official documentation <https://lightning.ai/docs/pytorch/
+        stable/common/lightning_module.html#to-onnx>`_).
+
+        Note: onnx library (optionnal dependency) must be installed in order to call this method
+
+        Example for exporting a :class:`DLinearModel`:
+
+            .. highlight:: python
+            .. code-block:: python
+
+                from darts.models import DLinearModel
+                from darts import TimeSeries
+                import numpy as np
+
+                train_ts = TimeSeries.from_values(np.arange(0,100))
+                model = DLinearModel(input_chunk_length=4, output_chunk_length=1)
+                model.fit(train_ts, epochs=1)
+                model.to_onnx("my_model.onnx")
+            ..
+
+        Parameters
+        ----------
+        path
+            Path under which to save the model at its current state. If no path is specified, the model
+            is automatically saved under ``"{ModelClass}_{YYYY-mm-dd_HH_MM_SS}.onnx"``.
+        input_sample
+            Tuple of Tensor corresponding to the inputs of the model forward pass.
+        randomize_input_sample
+            Wether to randomize the values in the `input_sample` to avoid leaking data.
+        **kwargs
+            Additional kwargs for PyTorch's :func:`torch.onnx.export` method, such as ``verbose`` prints a
+            description of the model being exported to stdout.
+            For more information, read the `official documentation <https://pytorch.org/docs/master/
+            onnx.html#torch.onnx.export>`_.
+        """
+        if not self._fit_called:
+            raise_log(
+                ValueError("`fit()` needs to be called before `to_onnx()`."), logger
+            )
+
+        if not self.train_sample and not input_sample:
+            raise_log(
+                ValueError(
+                    "Either the `input_sample` argument or the `train_sample` attribute must be provided."
+                ),
+                logger,
+            )
+
+        if path is None:
+            path = self._default_save_path() + ".onnx"
+
+        if not input_sample:
+            # last dimension in train_sample_shape is the expected target
+            mock_batch = tuple(
+                torch.rand((1,) + shape, dtype=self.model.dtype) if shape else None
+                for shape in self.model.train_sample_shape[:-1]
+            )
+            input_sample = self.model._process_input_batch(mock_batch)
+        elif randomize_input_sample:
+            input_sample = tuple(
+                torch.rand(tensor.shape, dtype=self.model.dtype)
+                if tensor is not None
+                else None
+                for tensor in input_sample
+            )
+
+        # torch models necessarily use historic target values as features in current implementation
+        input_names = ["x_past"]
+        if self._uses_future_covariates:
+            input_names.append("x_future")
+        if self._uses_static_covariates:
+            input_names.append("x_static")
+
+        self.model.to_onnx(
+            file_path=path,
+            input_sample=(input_sample,),
+            input_names=input_names,
+            **kwargs,
+        )
+
     @random_method
     def fit(
         self,
diff --git a/docs/userguide/torch_forecasting_models.md b/docs/userguide/torch_forecasting_models.md
index 54aa6ebbc2..565c50b552 100644
--- a/docs/userguide/torch_forecasting_models.md
+++ b/docs/userguide/torch_forecasting_models.md
@@ -22,6 +22,7 @@ We assume that you already know about covariates in Darts. If you're new to the
       - [Manual saving / loading](#manual-saving--loading)
       - [Train & save on GPU, load on CPU](#trainingsaving-on-gpu-and-loading-on-cpu)
       - [Load pre-trained model for fine-tuning](#re-training-or-fine-tuning-a-pre-trained-model)
+      - [Exporting model to ONNX format for inference](#exporting-model-to-ONNX-format-for-inference)
     - [Callbacks](#callbacks)
       - [Early Stopping](#example-with-early-stopping)
       - [Custom Callback](#example-of-custom-callback-to-store-losses)
@@ -350,6 +351,87 @@ model_finetune = SomeTorchForecastingModel(...,  # use identical parameters & va
 model_finetune.load_weights("/your/path/to/save/model.pt")
 ```
 
+#### Exporting model to ONNX format for inference
+
+It is also possible to export the model weights to the ONNX format to run inference in a lightweight environment. This example assumes that the model is trained using a future covariates that extends far enough into the future. Note that the user must align and slice the series manually and it will not be possible to forecast `n > output_chunk_length` without implementing the auto-regression logic
+
+```python
+model = SomeTorchForecastingModel(...)
+model.fit(...)
+
+# make sure to have onnx installed
+onnx_filename = "example_onnx.onnx"
+model.to_onnx(onnx_filename, export_params=True)
+```
+
+Now, to load the model and predict steps after the end of the series:
+
+```python
+import onnx
+import onnxruntime as ort
+
+def prepare_onnx_inputs(
+    model,
+    series: TimeSeries,
+    past_covariates : Optional[TimeSeries] = None,
+    future_covariates : Optional[TimeSeries] = None,
+    ) -> tuple[Optional[np.ndarray]]:
+    """Helper function to slice and concatenate the input features"""
+    past_feats, future_feats, static_feats = None, None, None
+    # convert and concatenate the historic features (target, past and future covariates)
+    past_feats = series.values()[-model.input_chunk_length:]
+    if past_covariates:
+        past_feats = np.concatenate(
+            [
+                past_feats,
+                past_covariates.values()[-model.input_chunk_length:]
+            ],
+            axis=1
+        )
+    if future_covariates:
+        past_feats = np.concatenate(
+            [
+                past_feats,
+                future_covariates.values()[-model.input_chunk_length:]
+            ],
+            axis=1
+        )
+    past_feats = np.expand_dims(past_feats, axis=0)
+
+    # convert the future covariates
+    if model._uses_future_covariates:
+        if future_covariates:
+            future_feats = np.expand_dims(future_covariates.values()[
+                len(series):len(series)+model.output_chunk_length
+                ], axis=0)
+
+    # convert static covariates
+    if series.has_static_covariates:
+        static_feats = np.expand_dims(series.static_covariates_values(), axis=0)
+
+    return past_feats, future_feats, static_feats
+
+onnx_model = onnx.load(onnx_filename)
+onnx.checker.check_model(onnx_model)
+ort_session = ort.InferenceSession(onnx_filename)
+
+# use helper function to extract the features from the series
+past_feats, future_feats, static_feats = prepare_input_feats(
+    model=model,
+    series=series,
+    past_covariates = None,
+    future_covariates = ts_future,
+)
+
+# extract only the features expected by the model
+ort_inputs = {
+    k:v for k, v in zip(['x_past', 'x_future', 'x_static'], [past_feats, future_feats, static_feats]) if k in [inp.name for inp in list(ort_session.get_inputs())]
+    }
+ort_outs = ort_session.run(None, ort_inputs)
+```
+
+Note that the forecasts might be slightly different due to rounding errors. Also, due to its specificities, `RNNModel` requires different pre-processing of the series to obtain the input arrays (notably because of `training_length`).
+
 ### Callbacks
 
 Callbacks are a powerful way to monitor or control the behavior of the model during the training process. Some examples: