diff --git a/examples/worlds/shadow_texture_size.sdf b/examples/worlds/shadow_texture_size.sdf
new file mode 100644
index 0000000000..c79a5075c5
--- /dev/null
+++ b/examples/worlds/shadow_texture_size.sdf
@@ -0,0 +1,73 @@
+
+
+
+
+ 0.1 0.1 0.1
+ 0.0 0.0 0.0
+
+
+
+
+
+ ogre2
+ -10 0 7 0 0.5 0
+
+ 8192
+
+
+
+
+
+
+
+
+
+ 0 0 8 0 0 0
+ 1 1 1 1
+ 0 0 0 0
+
+ 50
+ 0
+ 0
+ 0
+
+ true
+ -2 2 -1.5
+ 1.0
+
+
+
+
+ 0 0 0 0 0 -1.57
+
+ https://fuel.gazebosim.org/1.0/OpenRobotics/models/Garden Mascot
+
+
+
+
+ -5 0 -0.5 0 0 0
+ true
+
+
+
+
+ 15 15 1
+
+
+
+
+
+
+ 15 15 1
+
+
+
+ 0.8 0.8 0.8 1
+ 0.8 0.8 0.8 1
+ 0.8 0.8 0.8 1
+
+
+
+
+
+
diff --git a/tutorials.md.in b/tutorials.md.in
index e88b8f7137..b6f895ec5d 100644
--- a/tutorials.md.in
+++ b/tutorials.md.in
@@ -54,6 +54,7 @@ If you are an absolute beginner, start with the Tutorials section.
* \subpage logicalaudiosensor "Logical Audio Sensor": Using the LogicalAudioSensor system to mimic logical audio emission and detection in simulation.
* \subpage auto_inertia_calculation "Automatic Inertia Calculation": Automatically compute inertia values(mass, mass matrix, center of mass) for SDFormat links.
* \subpage jointcontrollers "Joint Controllers": Using available joint controller plugins to control joints.
+* \subpage shadow_texture_size "Shadow texture size": Change the texture size of shadows casted by lights.
### Advanced
diff --git a/tutorials/files/shadow_texture_size/shadow_texsize_2k_to_16k.gif b/tutorials/files/shadow_texture_size/shadow_texsize_2k_to_16k.gif
new file mode 100644
index 0000000000..09cfabbea8
Binary files /dev/null and b/tutorials/files/shadow_texture_size/shadow_texsize_2k_to_16k.gif differ
diff --git a/tutorials/shadow_texture_size.md b/tutorials/shadow_texture_size.md
new file mode 100644
index 0000000000..b117370deb
--- /dev/null
+++ b/tutorials/shadow_texture_size.md
@@ -0,0 +1,118 @@
+\page shadow_texture_size Shadow Texture Size
+
+This tutorial showcases how to change the texture size of shadows casted by lights.
+
+
+ \image html files/shadow_texture_size/shadow_texsize_2k_to_16k.gif width=60%
+
+
+## Texture size options
+
+Supported texture sizes include: 512px, 1024px, 2048px, 4096px, 8192px, 16384px.
+
+The default shadow texture size for all lights is 2K. The default max texture size is 16K, but for less powerful computers, it may be a lower value, like 8K.
+
+## Changing shadow texture size
+
+The shadow texture size can be changed for the GUI with the usage of the Minimal Scene GUI plugin in the SDF.
+
+Currently, light type is restricted to only directional light. As a scene should typically have at most one directional light (representing the sun), this will ensure that an increase in shadow texture size does not increase VRAM too much.
+
+### Example usage for the GUI
+
+Let's change the shadow texture size for directional light with the SDF file below. (The finished SDF file can be viewed [here](https://github.com/gazebosim/gz-sim/tree/gz-sim9/examples/worlds/shadow_texture_size.sdf).)
+
+1) Save the below in an SDF file named `shadow_texture_size.sdf`:
+
+```xml
+
+
+
+
+ 0.1 0.1 0.1
+ 0.0 0.0 0.0
+
+
+
+
+
+ ogre2
+ -10 0 7 0 0.5 0
+
+
+
+
+
+
+
+
+ 0 0 8 0 0 0
+ 1 1 1 1
+ 0 0 0 0
+
+ 50
+ 0
+ 0
+ 0
+
+ true
+ -2 2 -1.5
+ 1.0
+
+
+
+
+ 0 0 0 0 0 -1.57
+
+ https://fuel.gazebosim.org/1.0/OpenRobotics/models/Garden Mascot
+
+
+
+
+ -5 0 -0.5 0 0 0
+ true
+
+
+
+
+ 15 15 1
+
+
+
+
+
+
+ 15 15 1
+
+
+
+ 0.8 0.8 0.8 1
+ 0.8 0.8 0.8 1
+ 0.8 0.8 0.8 1
+
+
+
+
+
+
+```
+
+2) Add the following lines to the Minimal Scene GUI plugin.
+
+```xml
+
+ 8192
+
+```
+
+The `` value can be changed as per the Texture size options section.
+
+3) Open the `shadow_texsize_demo.sdf` world with
+
+```bash
+gz sim shadow_texture_size.sdf
+```
+
+## Impact on VRAM usage
+
+Keep in mind that the larger the shadow texture size, the more VRAM is used. Thus, in a scene populated with many lights, changing the directional light's shadow texture size should be fine because there is typically only one directional light in a scene. But if the scene has many point lights and the point light's shadow texture size is increased, the VRAM consumption goes up significantly.