diff --git a/src/jaxsim/exceptions.py b/src/jaxsim/exceptions.py
new file mode 100644
index 000000000..382f493ab
--- /dev/null
+++ b/src/jaxsim/exceptions.py
@@ -0,0 +1,55 @@
+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. It can be a fmt string,
+            and users can pass additional arguments to format the string.
+    """
+
+    # Check early that the fmt string is well-formed.
+    _ = msg.format(*args, **kwargs)
+
+    def _raise_exception(condition: bool, *args, **kwargs) -> None:
+        if condition:
+            raise exception(msg.format(*args, **kwargs))
+
+    def _callback(args, kwargs) -> None:
+        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)