diff --git a/d3rlpy/cli.py b/d3rlpy/cli.py
index 3c54fa80..24483b66 100644
--- a/d3rlpy/cli.py
+++ b/d3rlpy/cli.py
@@ -350,28 +350,26 @@ def play(
 
 @cli.command(short_help="Install additional packages.")
 @click.argument("name")
-def install(name: str) -> None:
+def _install_module(
+    name: list[str], upgrade: bool = False, check: bool = True
+) -> None:
     if name == "atari":
-        subprocess.run(
-            ["pip3", "install", "-U", "gym[atari,accept-rom-license]"],
-            check=True,
-        )
+        _install_module(["gym[atari,accept-rom-license]"], upgrade=True)
     elif name == "d4rl_atari":
-        subprocess.run(["d3rlpy", "install", "atari"], check=True)
-        subprocess.run(
-            ["pip3", "install", "git+https://github.com/takuseno/d4rl-atari"],
-            check=True,
-        )
+        install("atari")
+        _install_module(["git+https://github.com/takuseno/d4rl-atari"])
     elif name == "d4rl":
-        subprocess.run(
-            [
-                "pip3",
-                "install",
-                "git+https://github.com/Farama-Foundation/D4RL",
-            ],
-            check=True,
-        )
-        subprocess.run(["pip3", "install", "-U", "gym"], check=True)
-        subprocess.run(["pip3", "uninstall", "-y", "pybullet"], check=True)
+        _install_module(["git+https://github.com/Farama-Foundation/D4RL"])
+        _install_module(["gym"], upgrade=True)
+        _install_module(["-y", "pybullet"], upgrade=True)
+    elif name == "minari":
+        _install_module(["minari==0.4.2"], upgrade=True)
     else:
         raise ValueError(f"Unsupported command: {name}")
+
+
+def _install_module(
+    name: list[str], upgrade: bool = False, check: bool = True
+) -> None:
+    name = ["-U", *name] if upgrade else name
+    subprocess.run(["pip3", "install", *name], check=check)
diff --git a/d3rlpy/datasets.py b/d3rlpy/datasets.py
index 180dcde8..ce916371 100644
--- a/d3rlpy/datasets.py
+++ b/d3rlpy/datasets.py
@@ -7,6 +7,7 @@
 from urllib import request
 
 import gym
+import gymnasium
 import numpy as np
 from gym.wrappers.time_limit import TimeLimit
 
@@ -442,6 +443,69 @@ def get_d4rl(
         ) from e
 
 
+def get_minari(
+    env_name: str,
+    transition_picker: Optional[TransitionPickerProtocol] = None,
+    trajectory_slicer: Optional[TrajectorySlicerProtocol] = None,
+    render_mode: Optional[str] = None,
+) -> Tuple[ReplayBuffer, gymnasium.Env[np.ndarray, np.ndarray]]:
+    """Returns minari dataset and envrironment.
+
+    The dataset is provided through minari.
+    .. code-block:: python
+        from d3rlpy.datasets import get_minari
+        dataset, env = get_minari('door-cloned-v1')
+    Args:
+        env_name: environment id of minari dataset.
+        transition_picker: TransitionPickerProtocol object.
+        trajectory_slicer: TrajectorySlicerProtocol object.
+        render_mode: Mode of rendering (``human``, ``rgb_array``).
+    Returns:
+        tuple of :class:`d3rlpy.dataset.ReplayBuffer` and gym environment.
+    """
+    try:
+        import minari
+
+        _dataset: minari.MinariDataset = minari.load_dataset(
+            env_name, download=True
+        )
+
+        data = {
+            "observations": [],
+            "actions": [],
+            "rewards": [],
+            "terminations": [],
+            "truncations": [],
+        }
+
+        for ep in _dataset:
+            for key in data.keys():
+                data[key].append(getattr(ep, key))
+
+        dataset = MDPDataset(
+            observations=np.concatenate(data["observations"]),
+            actions=np.concatenate(data["actions"]),
+            rewards=np.concatenate(data["rewards"]),
+            terminals=np.concatenate(data["terminations"]),
+            timeouts=np.concatenate(data["truncations"]),
+            transition_picker=transition_picker,
+            trajectory_slicer=trajectory_slicer,
+        )
+
+        env = _dataset.recover_environment()
+        unwrapped_env = env.unwrapped
+
+        unwrapped_env.render_mode = render_mode
+        return dataset, TimeLimit(
+            unwrapped_env, max_episode_steps=env.spec.max_episode_steps
+        )
+
+    except ImportError as e:
+        raise ImportError(
+            "minari is not installed.\n" "$ d3rlpy install minari"
+        ) from e
+
+
 ATARI_GAMES = [
     "adventure",
     "air-raid",
diff --git a/docs/references/datasets.rst b/docs/references/datasets.rst
index 2b48a96f..d7e01c13 100644
--- a/docs/references/datasets.rst
+++ b/docs/references/datasets.rst
@@ -16,3 +16,4 @@ learning algorithms.
    d3rlpy.datasets.get_atari_transitions
    d3rlpy.datasets.get_d4rl
    d3rlpy.datasets.get_dataset
+   d3rlpy.datasets.get_minari
diff --git a/tests/test_datasets.py b/tests/test_datasets.py
index c86ccb1a..39e3e76e 100644
--- a/tests/test_datasets.py
+++ b/tests/test_datasets.py
@@ -1,6 +1,6 @@
 import pytest
 
-from d3rlpy.datasets import get_cartpole, get_dataset, get_pendulum
+from d3rlpy.datasets import get_cartpole, get_dataset, get_minari, get_pendulum
 
 
 @pytest.mark.parametrize("dataset_type", ["replay", "random"])
@@ -23,3 +23,15 @@ def test_get_dataset(env_name: str) -> None:
         assert env.unwrapped.spec.id == "CartPole-v1"
     elif env_name == "pendulum-random":
         assert env.unwrapped.spec.id == "Pendulum-v1"
+
+
+@pytest.mark.parametrize(
+    "dataset_name, env_name",
+    [
+        ("door-cloned-v1", "AdroitHandDoor-v1"),
+        ("relocate-expert-v1", "AdroitHandRelocate-v1"),
+    ],
+)
+def test_get_minari(dataset_name: str, env_name: str) -> None:
+    _, env = get_minari(dataset_name)
+    assert env.unwrapped.spec.id == env_name