diff --git a/.github/workflows/ubuntu-cuda.yml b/.github/workflows/ubuntu-cuda.yml
index 00dd303dcf1..88bb161d595 100644
--- a/.github/workflows/ubuntu-cuda.yml
+++ b/.github/workflows/ubuntu-cuda.yml
@@ -149,7 +149,7 @@ jobs:
             --command="sudo Open3D/docker/docker_build.sh ${CI_CONFIG}${RELEASE_TAG:-}"
           if [ "${BUILD_PACKAGE}" == 'true' ]; then
             gcloud compute scp --zone="${GCE_ZONE}" \
-              "${INSTANCE_NAME}":open3d-devel-linux*.tar.xz "$PWD"
+              "${INSTANCE_NAME}":open3d-devel-linux* "$PWD"
           fi
 
       - name: Upload package
@@ -157,7 +157,7 @@ jobs:
         uses: actions/upload-artifact@v4
         with:
           name: open3d-devel-linux-x86_64-cuda-${{ matrix.CI_CONFIG }}
-          path: open3d-devel-linux*.tar.xz
+          path: open3d-devel-linux*
           if-no-files-found: error
 
       - name: Update devel release
@@ -165,7 +165,7 @@ jobs:
         env:
           GH_TOKEN: ${{ github.token }}
         run: |
-          gh release upload main-devel open3d-devel-linux-*.tar.xz --clobber
+          gh release upload main-devel open3d-devel-linux-* --clobber
           gh release view main-devel
 
       - name: VM run docker
diff --git a/.github/workflows/ubuntu-sycl.yml b/.github/workflows/ubuntu-sycl.yml
index ae0f32a78a0..628af010bed 100644
--- a/.github/workflows/ubuntu-sycl.yml
+++ b/.github/workflows/ubuntu-sycl.yml
@@ -62,7 +62,7 @@ jobs:
           name: open3d-sycl-linux-wheel-and-binary
           path: |
             open3d-*.whl
-            open3d-devel-*.tar.xz
+            open3d-devel-*
           if-no-files-found: error
       - name: Update devel release
         if: ${{ github.ref == 'refs/heads/main' && matrix.BUILD_SHARED_LIBS == 'ON' }}
@@ -71,7 +71,7 @@ jobs:
         run: |
           if [ ${{ matrix.BUILD_SHARED_LIBS }} == 'ON' ] ; then
             gh release upload main-devel open3d-*.whl --clobber
-            gh release upload main-devel open3d-devel-*.tar.xz --clobber
+            gh release upload main-devel open3d-devel-* --clobber
           fi
           gh release view main-devel
 
diff --git a/.github/workflows/ubuntu.yml b/.github/workflows/ubuntu.yml
index 4a515edd0b7..e7f3976bf10 100644
--- a/.github/workflows/ubuntu.yml
+++ b/.github/workflows/ubuntu.yml
@@ -81,7 +81,7 @@ jobs:
         uses: actions/upload-artifact@v4
         with:
           name: open3d-devel-linux-x86_64-ML_${{ matrix.MLOPS }}
-          path: open3d-devel-*.tar.xz
+          path: open3d-devel-*
           if-no-files-found: error
       - name: Upload viewer to GitHub artifacts
         if: ${{ env.BUILD_SHARED_LIBS == 'OFF' }}
@@ -96,7 +96,7 @@ jobs:
           GH_TOKEN: ${{ github.token }}
         run: |
           if [ ${BUILD_SHARED_LIBS} == 'ON' ] ; then
-            gh release upload main-devel open3d-devel-*.tar.xz --clobber
+            gh release upload main-devel open3d-devel-* --clobber
           else
             gh release upload main-devel open3d-viewer-*-Linux.deb --clobber
           fi
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 354125dc01d..6a94c3e9833 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -359,6 +359,7 @@ else()
     set(Open3D_INSTALL_RESOURCE_DIR bin)
     set(Open3D_INSTALL_CMAKE_DIR CMake)
 endif()
+set(CMAKE_INSTALL_DEFAULT_COMPONENT_NAME "dev")
 
 # Put build results in some predictable places
 # The $<CONFIG> generator expression makes sure that XCode or Visual Studio do not
diff --git a/cmake/Open3DPackaging.cmake b/cmake/Open3DPackaging.cmake
index e6ce4a3c15c..5e6deacc9c9 100644
--- a/cmake/Open3DPackaging.cmake
+++ b/cmake/Open3DPackaging.cmake
@@ -33,4 +33,30 @@ set(CPACK_PACKAGE_FILE_NAME
     "open3d-devel-${_sys}-${OPEN3D_VERSION_FULL}")
 set(CPACK_THREADS 0)  # Use all cores for compressing package
 
+find_program(DPKG_PROGRAM dpkg)
+if (EXISTS ${DPKG_PROGRAM})
+	list(APPEND CPACK_GENERATOR DEB)
+	set(CPACK_SET_DESTDIR ON)
+	set(CPACK_COMPONENTS_ALL "dev")
+	set(CPACK_DEBIAN_DEV_PACKAGE_NAME "open3d-devel-${_sys}")
+	set(CPACK_DEBIAN_PACKAGE_VERSION ${OPEN3D_VERSION_FULL})
+	execute_process(COMMAND ${DPKG_PROGRAM} --print-architecture
+		OUTPUT_VARIABLE CPACK_DEBIAN_PACKAGE_ARCHITECTURE
+		OUTPUT_STRIP_TRAILING_WHITESPACE)
+	set(CPACK_DEBIAN_FILE_NAME DEB-DEFAULT)
+	set(CPACK_DEBIAN_PACKAGE_GENERATE_SHLIBS ON)
+	set(CPACK_DEBIAN_PACKAGE_SHLIBDEPS ON)
+        list(APPEND CPACK_DEBIAN_PACKAGE_SHLIBDEPS_PRIVATE_DIRS ${CMAKE_INSTALL_PREFIX}/${Open3D_INSTALL_LIB_DIR})
+	if (DEFINED Tensorflow_FRAMEWORK_LIB)
+		get_filename_component(TENSORFLOW_LIB_DIR ${Tensorflow_FRAMEWORK_LIB} DIRECTORY)
+		list(APPEND CPACK_DEBIAN_PACKAGE_SHLIBDEPS_PRIVATE_DIRS ${TENSORFLOW_LIB_DIR}) 
+	endif()
+        if(TARGET tbb)
+		get_target_property(TBB_LIB_DIR tbb LIBRARY_OUTPUT_DIRECTORY)
+		list(APPEND CPACK_DEBIAN_PACKAGE_SHLIBDEPS_PRIVATE_DIRS ${TBB_LIB_DIR}) 
+        endif()
+	message("CPACK_DEBIAN_PACKAGE_SHLIBDEPS_PRIVATE_DIR: ${CPACK_DEBIAN_PACKAGE_SHLIBDEPS_PRIVATE_DIRS}")
+	set(CPACK_DEB_COMPONENT_INSTALL ON)
+endif()
+
 include(CPack)
diff --git a/cpp/open3d/CMakeLists.txt b/cpp/open3d/CMakeLists.txt
index 00b04684b2c..d6f72a7cf85 100644
--- a/cpp/open3d/CMakeLists.txt
+++ b/cpp/open3d/CMakeLists.txt
@@ -177,7 +177,7 @@ install(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
 install(FILES
         "${PROJECT_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/Open3DConfig.cmake"
         "${PROJECT_BINARY_DIR}/Open3DConfigVersion.cmake"
-        DESTINATION "${Open3D_INSTALL_CMAKE_DIR}" COMPONENT dev)
+        DESTINATION "${Open3D_INSTALL_CMAKE_DIR}")
 
 # Install GUI resources
 if (BUILD_GUI)
diff --git a/docker/Dockerfile.ci b/docker/Dockerfile.ci
index 06331e9ccde..3ecdde36dc3 100755
--- a/docker/Dockerfile.ci
+++ b/docker/Dockerfile.ci
@@ -230,7 +230,7 @@ RUN \
  && make VERBOSE=1 -j$(nproc) \
  && make install-pip-package -j$(nproc) \
  && make install -j$(nproc) \
- && if [[ "${PACKAGE}" = "ON" ]]; then make package; fi \
+ && if [[ "${PACKAGE}" = "ON" ]]; then make VERBOSE=1 package; fi \
  && if [[ "${PACKAGE}" = "VIEWER" ]]; then make package-Open3DViewer-deb; fi \
  && if [[ "${CI:-}a" != "a" ]]; then rm -rf _deps assimp embree ipp mkl mkl_install webrtc librealsense; fi
 # If CI is not null or unset, remove all large build folders to save disk space
@@ -242,7 +242,7 @@ RUN ccache -s \
  && CCACHE_DIR_PARENT=$(dirname ${CCACHE_DIR}) \
  && cd ${CCACHE_DIR_PARENT} \
  && tar -caf /${CCACHE_TAR_NAME}.tar.xz ${CCACHE_DIR_NAME} \
- && if [[ "${PACKAGE}" = "ON" ]]; then mv /root/Open3D/build/package/open3d-devel*.tar.xz /; fi \
+ && if [[ "${PACKAGE}" = "ON" ]]; then mv /root/Open3D/build/package/open3d-devel* /; fi \
  && if [[ "${PACKAGE}" = "VIEWER" ]]; then mv /root/Open3D/build/package-Open3DViewer-deb/open3d-viewer-*-Linux.deb /; fi \
  && if [[ "${BUILD_SYCL_MODULE}" = "ON"  && "${BUILD_SHARED_LIBS}" = "ON" ]]; then mv /root/Open3D/build/lib/python_package/pip_package/open3d*.whl /; fi \
  && ls -alh /