diff --git a/modules/eigen/3.4.1/MODULE.bazel b/modules/eigen/3.4.1/MODULE.bazel
new file mode 100644
index 00000000000..32256a5edb6
--- /dev/null
+++ b/modules/eigen/3.4.1/MODULE.bazel
@@ -0,0 +1,9 @@
+module(
+    name = "eigen",
+    version = "3.4.1",
+    bazel_compatibility = [">=7.2.1"],
+    compatibility_level = 1,
+)
+
+bazel_dep(name = "rules_cc", version = "0.0.17")
+bazel_dep(name = "rules_license", version = "1.0.0")
diff --git a/modules/eigen/3.4.1/overlay/BUILD.bazel b/modules/eigen/3.4.1/overlay/BUILD.bazel
new file mode 100644
index 00000000000..78d8c683a4c
--- /dev/null
+++ b/modules/eigen/3.4.1/overlay/BUILD.bazel
@@ -0,0 +1,61 @@
+load("@rules_cc//cc:cc_library.bzl", "cc_library")
+load("@rules_license//rules:license.bzl", "license")
+
+package(
+    default_applicable_licenses = [
+        ":license.APACHE",
+        ":license.BSD",
+        ":license.MINPACK",  # Only used by unsupported/** not by Eigen/**.
+        ":license.MPL2",
+    ],
+)
+
+exports_files(glob(["COPYING.*"]))
+
+# Note: Eigen is primarily an MPL2 library with small bits of code under other
+# licenses. Previous versions of Eigen contained LGPL code which needed to be
+# carefully excluded, but as of approximately 2023-02-07 all LGPL code has been
+# removed upstream so does not need any special handling here.
+
+license(
+    name = "license.APACHE",
+    license_kinds = ["@rules_license//licenses/spdx:Apache-2.0"],
+    license_text = "COPYING.APACHE",
+)
+
+license(
+    name = "license.BSD",
+    license_kinds = ["@rules_license//licenses/spdx:BSD-3-Clause"],
+    license_text = "COPYING.BSD",
+)
+
+license(
+    name = "license.MINPACK",
+    license_kinds = ["@rules_license//licenses/spdx:BSD-3-Clause-Attribution"],
+    license_text = "COPYING.MINPACK",
+)
+
+license(
+    name = "license.MPL2",
+    license_kinds = ["@rules_license//licenses/spdx:MPL-2.0"],
+    license_text = "COPYING.MPL2",
+)
+
+HDRS = glob(
+    [
+        "Eigen/**",
+        "unsupported/Eigen/**",
+    ],
+    exclude = [
+        # We don't want any documentation files.
+        "**/*.md",
+        "**/*.txt",
+    ],
+)
+
+cc_library(
+    name = "eigen",
+    hdrs = HDRS,
+    includes = ["."],
+    visibility = ["//visibility:public"],
+)
diff --git a/modules/eigen/3.4.1/overlay/MODULE.bazel b/modules/eigen/3.4.1/overlay/MODULE.bazel
new file mode 120000
index 00000000000..9b599e3ad9c
--- /dev/null
+++ b/modules/eigen/3.4.1/overlay/MODULE.bazel
@@ -0,0 +1 @@
+../MODULE.bazel
\ No newline at end of file
diff --git a/modules/eigen/3.4.1/presubmit.yml b/modules/eigen/3.4.1/presubmit.yml
new file mode 100644
index 00000000000..e19268abaf1
--- /dev/null
+++ b/modules/eigen/3.4.1/presubmit.yml
@@ -0,0 +1,18 @@
+matrix:
+  platform:
+  - debian10
+  - debian11
+  - ubuntu2004
+  - ubuntu2204
+  - ubuntu2404
+  - macos
+  - macos_arm64
+  - windows
+  bazel: ["7.x", "8.x", "rolling"]
+tasks:
+  verify_targets:
+    name: Verify build targets
+    platform: ${{ platform }}
+    bazel: ${{ bazel }}
+    build_targets:
+    - '@eigen//:eigen'
diff --git a/modules/eigen/3.4.1/source.json b/modules/eigen/3.4.1/source.json
new file mode 100644
index 00000000000..492e4655272
--- /dev/null
+++ b/modules/eigen/3.4.1/source.json
@@ -0,0 +1,14 @@
+{
+    "url": "https://gitlab.com/libeigen/eigen/-/package_files/233618439/download",
+    "mirror_urls": [
+        "https://github.com/eigen-mirror/eigen/archive/refs/tags/3.4.1.tar.gz",
+        "https://gitlab.com/libeigen/eigen/-/archive/3.4.1/eigen-3.4.1.tar.gz"
+    ],
+    "archive_type": "tar.gz",
+    "integrity": "sha256-uTxmfRtpJlzbTZ8w7CH4+su+izB880wLmUKDTG1P2+I=",
+    "strip_prefix": "eigen-3.4.1",
+    "overlay": {
+        "BUILD.bazel": "sha256-FLG3o0e8uef58dPphOjnCjAfXYUMBvJQYbr1tfkNYO0=",
+        "MODULE.bazel": "sha256-iW8NAkNgkQ2JOrEyKaKDGrWxL0GNaKGae3csbXcI+KQ="
+    }
+}
diff --git a/modules/eigen/metadata.json b/modules/eigen/metadata.json
index 2179a7f8d57..e009728da32 100644
--- a/modules/eigen/metadata.json
+++ b/modules/eigen/metadata.json
@@ -2,8 +2,16 @@
     "homepage": "https://gitlab.com/libeigen/eigen",
     "maintainers": [
         {
-            "email": "bcr-maintainers@bazel.build",
-            "name": "No Maintainer Specified"
+            "email": "jeremy.nimmer@tri.global",
+            "github": "jwnimmer-tri",
+            "github_user_id": 17596505,
+            "name": "Jeremy Nimmer"
+        },
+        {
+            "email": "bcr@laure.nz",
+            "github": "lalten",
+            "github_user_id": 11611719,
+            "name": "Laurenz Altenmueller"
         }
     ],
     "repository": [
@@ -16,6 +24,7 @@
         "3.4.0.bcr.1.1",
         "3.4.0.bcr.2",
         "3.4.0.bcr.3",
+        "3.4.1",
         "4.0.0-20241125",
         "4.0.0-20241125.bcr.1",
         "4.0.0-20241125.bcr.2",