diff --git a/source/isaaclab/changelog.d/peterd-mimic-installs-teleop.rst b/source/isaaclab/changelog.d/peterd-mimic-installs-teleop.rst
new file mode 100644
index 00000000000..4074fe7de8d
--- /dev/null
+++ b/source/isaaclab/changelog.d/peterd-mimic-installs-teleop.rst
@@ -0,0 +1,5 @@
+Changed
+^^^^^^^
+
+* ``./isaaclab.sh -i mimic`` now also installs ``isaaclab_teleop`` as an editable
+  submodule, since :mod:`isaaclab_mimic` declares it as a required dependency.
diff --git a/source/isaaclab/isaaclab/cli/commands/install.py b/source/isaaclab/isaaclab/cli/commands/install.py
index 29a774d016b..d13589e5bb5 100644
--- a/source/isaaclab/isaaclab/cli/commands/install.py
+++ b/source/isaaclab/isaaclab/cli/commands/install.py
@@ -487,7 +487,7 @@ def _install_isaacsim() -> None:
 # Optional submodules — only installed when explicitly requested or with 'all'.
 # Maps the short CLI name to one or more source directory names under source/.
 OPTIONAL_ISAACLAB_SUBMODULES: dict[str, tuple[str, ...]] = {
-    "mimic": ("isaaclab_mimic",),
+    "mimic": ("isaaclab_teleop", "isaaclab_mimic"),
     "teleop": ("isaaclab_teleop",),
 }
 
diff --git a/source/isaaclab/test/cli/test_install_command_parsing.py b/source/isaaclab/test/cli/test_install_command_parsing.py
index d0bccdae4a7..27281ec013f 100644
--- a/source/isaaclab/test/cli/test_install_command_parsing.py
+++ b/source/isaaclab/test/cli/test_install_command_parsing.py
@@ -122,7 +122,7 @@ def test_core_submodules_contains_expected_packages(self):
 
     def test_optional_submodules_contains_expected_packages(self):
         assert set(OPTIONAL_ISAACLAB_SUBMODULES.keys()) == {"mimic", "teleop"}
-        assert OPTIONAL_ISAACLAB_SUBMODULES["mimic"] == ("isaaclab_mimic",)
+        assert OPTIONAL_ISAACLAB_SUBMODULES["mimic"] == ("isaaclab_teleop", "isaaclab_mimic")
         assert OPTIONAL_ISAACLAB_SUBMODULES["teleop"] == ("isaaclab_teleop",)
 
     def test_valid_extra_features(self):
diff --git a/source/isaaclab_mimic/changelog.d/isaaclab-teleop-dep.rst b/source/isaaclab_mimic/changelog.d/isaaclab-teleop-dep.rst
new file mode 100644
index 00000000000..ca97da40b17
--- /dev/null
+++ b/source/isaaclab_mimic/changelog.d/isaaclab-teleop-dep.rst
@@ -0,0 +1,6 @@
+Changed
+^^^^^^^
+
+* Declared ``isaaclab_teleop`` as a required extension of
+  ``isaaclab_mimic`` in ``install.py``. ``./isaaclab.sh -i mimic``
+  now installs ``isaaclab_teleop`` alongside ``isaaclab_mimic``.