<p>The integration of the Internet of Things (IoT) with Unmanned Aerial Vehicles (UAVs), commonly known as drones, has resulted in an emerging technology known as the Internet of Drone Things (IoDT). This field permeates many vertical domains, such as emergency response, agriculture, surveillance, and urban planning, and we observe a large interest from academia and industry toward IoDT. Nevertheless, IoDT is still an immature topic with many open questions, including the cost of building an IoDT-based environment, expertise, safety, and algorithm development, making studies using physical testbeds poorly well-desired. As a solution, simulators are the preferred choice, especially for algorithm development and testing. However, current simulators that can be used for the IoDT environments are general-purpose, too resource-intensive, and lack fine control mechanisms for IoDT components, with some requiring expensive licensing. As a solution, we present a new IoDT simulator that is lightweight, flexible, and easy to use, addressing the expense and complexity of current systems. This simulator assists in developing high-level algorithms without the overhead of current simulators. With fine-grain controls of IoDT components such as sensors, actuators, and communication protocols, the simulator provides an extensible simulation environment. We present two scenarios, package delivery and disaster monitoring, to demonstrate the usefulness of our simulator. This work outlines the potential impact of our simulator in reducing the entry barriers to research and development of IoDT, making advanced IoDT solutions more accessible and cost-effective. We offer the simulator, which is publicly accessible on our group website.</p>