diff --git a/docs/guide/developer.rst b/docs/guide/developer.rst
new file mode 100644
index 0000000..145a49f
--- /dev/null
+++ b/docs/guide/developer.rst
@@ -0,0 +1,90 @@
+.. _developer:
+
+================
+Developer Guide
+================
+
+This guide is meant for those who wants to understand the internals and the design choices of Stable-Baselines3.
+
+
+At first, you should read the two issues where the design choices were discussed:
+
+- https://github.com/hill-a/stable-baselines/issues/576
+- https://github.com/hill-a/stable-baselines/issues/733
+
+
+The library is not meant to be modular, although inheritance is used to reduce code duplication.
+
+
+Algorithms Structure
+====================
+
+Each algorithm (on-policy and off-policy ones) follow a common structure.
+There is one folder per algorithm, and in that folder there is the algorithm and the policy definition (``policies.py``).
+
+Each algorithm had two main methods:
+
+- ``.collect_rollouts()`` which defines how new samples are collected, usually inherited from the base class. Those samples are then stored in a ``RolloutBuffer`` (discarded after the gradient update) or ``ReplayBuffer``
+
+- ``.train()`` which update the parameters using samples from the buffer
+
+
+Where to start?
+===============
+
+The first thing you need to read and understand are the base classes in the ``common/`` folder:
+
+- ``BaseRLModel`` in ``base_class.py`` which defines how an RL class should look like
+  it contains also all the "glue code" for saving/loading and the common operations (wrapping environments)
+
+- ``BasePolicy`` in ``policies.py`` which defines how a policy class should look like
+  it contains also all the magic for the ``.predict()`` method, to handle as many cases as possible
+
+- ``OffPolicyRLModel`` in ``base_class.py`` that contains the implementation of ``collect_rollouts()`` for the off-policy algorithms
+
+
+All the environments handled internally are assume to be ``VecEnv`` (``gym.Env`` are automatically wrapped).
+
+
+Pre-Processing
+==============
+
+To handle different observation spaces, some pre-processing needs to be done (e.g. one-hot encoding for discrete observation).
+Most of the code for pre-processing is in ``common/preprocessing.py``.
+
+For images, we make use of an additional wrapper ``VecTransposeImage`` because PyTorch uses the "channel-first" convention.
+
+
+Policy Structure
+================
+
+When we refer to "policy" in Stable-Baselines3, this is usually an abuse of language compared to RL terminology.
+In SB3, "Policy" refers to the class that handle all the networks useful for training,
+so not only the network used to predict actions (the "learned controller").
+
+For instance, the ``TD3`` policy contains the actor, the critic and the target networks.
+
+Probability distributions
+=========================
+
+When needed, the policies handle the different probability distributions.
+All distributions are located in ``common/distributions.py`` and follow the same interface.
+Each distribution correspond to a type of action space (e.g. ``Categorical`` is the one used for discrete actions.
+For continuous actions, we can use multiple distributions ("DiagGaussian", "SquashedGaussian" or "StateDependentDistribution")
+
+State-Dependent Exploration
+===========================
+
+State-Dependent Exploration (SDE) is a type of exploration that allows to use RL directly on real robots,
+that was the starting point for the Stable-Baselines3 library.
+I (@araffin) will publish a paper about a generalized version of SDE (the one implemented in SB3) soon.
+
+Misc
+====
+
+The rest of the ``common/`` is composed of helpers (e.g. evaluation helpers) or basic components (like the callbacks).
+The ``type_aliases.py`` file contains common type hint aliases like ``GymStepReturn``.
+
+Et voilà?
+
+After reading this guide and the mentioned files, you should be now able to understand the design logic behind the library ;)
diff --git a/docs/index.rst b/docs/index.rst
index 7b5fd15..d5b1e8b 100644
--- a/docs/index.rst
+++ b/docs/index.rst
@@ -45,6 +45,7 @@ Main Features
    guide/rl_zoo
    guide/migration
    guide/checking_nan
+   guide/developer
 
 
 .. toctree::