Bio-inspired robotics, which involves observing and replicating the behavior of natural systems, has driven significant innovation in the technical development of robotic components. A primary objective within this field is to emulate the sophisticated internal functions of animals to solve complex engineering challenges, such as control and stability. While the integration of bio-mimetic tails in robotic systems is not new, with applications ranging from running to walking robots, existing designs are often limited in their functionality. Currently, most robotic tails primarily offer stability within static or limited dynamic contexts. The objective of this work is to design a preliminary robotic tail inspired by the chameleon’s tail, using hard and soft materials. Design and prototyping are discussed in the paper. We anticipate that this robotic tail can be used in the context of dynamic stability of quadruped robots.