diff --git a/docarray/array/array/io.py b/docarray/array/array/io.py
index b5a846102d2..6a88f55f273 100644
--- a/docarray/array/array/io.py
+++ b/docarray/array/array/io.py
@@ -1,4 +1,5 @@
 import base64
+import csv
 import io
 import json
 import os
@@ -6,29 +7,39 @@
 import pickle
 from abc import abstractmethod
 from contextlib import nullcontext
+from itertools import compress
 from typing import (
     TYPE_CHECKING,
+    Any,
     BinaryIO,
     ContextManager,
+    Dict,
     Generator,
     Iterable,
     Optional,
+    Sequence,
     Tuple,
     Type,
     TypeVar,
     Union,
 )
 
-from docarray.base_document import BaseDocument
+from docarray.base_document import AnyDocument, BaseDocument
+from docarray.helper import (
+    _access_path_to_dict,
+    _dict_to_access_paths,
+    _update_nested_dicts,
+    is_access_path_valid,
+)
 from docarray.utils.compress import _decompress_bytes, _get_compress_ctx
 
 if TYPE_CHECKING:
 
+    from docarray import DocumentArray
     from docarray.proto import DocumentArrayProto
 
 T = TypeVar('T', bound='IOMixinArray')
 
-
 ARRAY_PROTOCOLS = {'protobuf-array', 'pickle-array'}
 SINGLE_PROTOCOLS = {'pickle', 'protobuf'}
 ALLOWED_PROTOCOLS = ARRAY_PROTOCOLS.union(SINGLE_PROTOCOLS)
@@ -291,6 +302,96 @@ def to_json(self) -> str:
         """
         return json.dumps([doc.json() for doc in self])
 
+    @classmethod
+    def from_csv(
+        cls,
+        file_path: str,
+        encoding: str = 'utf-8',
+        dialect: Union[str, csv.Dialect] = 'excel',
+    ) -> 'DocumentArray':
+        """
+        Load a DocumentArray from a csv file following the schema defined in the
+        :attr:`~docarray.DocumentArray.document_type` attribute.
+        Every row of the csv file will be mapped to one document in the array.
+        The column names (defined in the first row) have to match the field names
+        of the Document type.
+        For nested fields use "__"-separated access paths, such as 'image__url'.
+
+        List-like fields (including field of type DocumentArray) are not supported.
+
+        :param file_path: path to csv file to load DocumentArray from.
+        :param encoding: encoding used to read the csv file. Defaults to 'utf-8'.
+        :param dialect: defines separator and how to handle whitespaces etc.
+            Can be a csv.Dialect instance or one string of:
+            'excel' (for comma seperated values),
+            'excel-tab' (for tab separated values),
+            'unix' (for csv file generated on UNIX systems).
+        :return: DocumentArray
+        """
+        from docarray import DocumentArray
+
+        doc_type = cls.document_type
+        if doc_type == AnyDocument:
+            raise TypeError(
+                'There is no document schema defined. '
+                'To load from csv, please specify the DocumentArray\'s Document type using `DocumentArray[MyDoc]`.'
+            )
+
+        da = DocumentArray.__class_getitem__(doc_type)()
+        with open(file_path, 'r', encoding=encoding) as fp:
+            rows = csv.DictReader(fp, dialect=dialect)
+            field_names: Optional[Sequence[Any]] = rows.fieldnames
+
+            if field_names is None:
+                raise TypeError("No field names are given.")
+
+            valid = [is_access_path_valid(doc_type, field) for field in field_names]
+            if not all(valid):
+                raise ValueError(
+                    f'Fields provided in the csv file do not match the schema of the DocumentArray\'s '
+                    f'document type ({doc_type.__name__}): {list(compress(field_names, [not v for v in valid]))}'
+                )
+
+            for access_path2val in rows:
+                doc_dict: Dict[Any, Any] = {}
+                for access_path, value in access_path2val.items():
+                    field2val = _access_path_to_dict(
+                        access_path=access_path,
+                        value=value if value not in ['', 'None'] else None,
+                    )
+                    _update_nested_dicts(to_update=doc_dict, update_with=field2val)
+
+                da.append(doc_type.parse_obj(doc_dict))
+
+        return da
+
+    def to_csv(
+        self, file_path: str, dialect: Union[str, csv.Dialect] = 'excel'
+    ) -> None:
+        """
+        Save a DocumentArray to a csv file.
+        The field names will be stored in the first row. Each row corresponds to the
+        information of one Document.
+        Columns for nested fields will be named after the "__"-seperated access paths,
+        such as `"image__url"` for `image.url`.
+
+        :param file_path: path to a csv file.
+        :param dialect: defines separator and how to handle whitespaces etc.
+            Can be a csv.Dialect instance or one string of:
+            'excel' (for comma seperated values),
+            'excel-tab' (for tab separated values),
+            'unix' (for csv file generated on UNIX systems).
+        """
+        fields = self.document_type._get_access_paths()
+
+        with open(file_path, 'w') as csv_file:
+            writer = csv.DictWriter(csv_file, fieldnames=fields, dialect=dialect)
+            writer.writeheader()
+
+            for doc in self:
+                doc_dict = _dict_to_access_paths(doc.dict())
+                writer.writerow(doc_dict)
+
     # Methods to load from/to files in different formats
     @property
     def _stream_header(self) -> bytes:
diff --git a/docarray/base_document/mixins/io.py b/docarray/base_document/mixins/io.py
index 25c21c3ffac..fdad8648f06 100644
--- a/docarray/base_document/mixins/io.py
+++ b/docarray/base_document/mixins/io.py
@@ -7,12 +7,15 @@
     Callable,
     Dict,
     Iterable,
+    List,
     Optional,
     Tuple,
     Type,
     TypeVar,
 )
 
+from typing_inspect import is_union_type
+
 from docarray.base_document.base_node import BaseNode
 from docarray.typing.proto_register import _PROTO_TYPE_NAME_TO_CLASS
 from docarray.utils.compress import _compress_bytes, _decompress_bytes
@@ -291,3 +294,23 @@ def _to_node_protobuf(self) -> 'NodeProto':
         :return: the nested item protobuf message
         """
         return NodeProto(document=self.to_protobuf())
+
+    @classmethod
+    def _get_access_paths(cls) -> List[str]:
+        """
+        Get "__"-separated access paths of all fields, including nested ones.
+
+        :return: list of all access paths
+        """
+        from docarray import BaseDocument
+
+        paths = []
+        for field in cls.__fields__.keys():
+            field_type = cls._get_field_type(field)
+            if not is_union_type(field_type) and issubclass(field_type, BaseDocument):
+                sub_paths = field_type._get_access_paths()
+                for path in sub_paths:
+                    paths.append(f'{field}__{path}')
+            else:
+                paths.append(field)
+        return paths
diff --git a/docarray/helper.py b/docarray/helper.py
new file mode 100644
index 00000000000..e34aa2678ae
--- /dev/null
+++ b/docarray/helper.py
@@ -0,0 +1,88 @@
+from typing import TYPE_CHECKING, Any, Dict, Type
+
+if TYPE_CHECKING:
+    from docarray import BaseDocument
+
+
+def is_access_path_valid(doc: Type['BaseDocument'], access_path: str) -> bool:
+    """
+    Check if a given access path ("__"-separated) is a valid path for a given Document class.
+    """
+    from docarray import BaseDocument
+
+    field, _, remaining = access_path.partition('__')
+    if len(remaining) == 0:
+        return access_path in doc.__fields__.keys()
+    else:
+        valid_field = field in doc.__fields__.keys()
+        if not valid_field:
+            return False
+        else:
+            d = doc._get_field_type(field)
+            if not issubclass(d, BaseDocument):
+                return False
+            else:
+                return is_access_path_valid(d, remaining)
+
+
+def _access_path_to_dict(access_path: str, value) -> Dict[str, Any]:
+    """
+    Convert an access path ("__"-separated) and its value to a (potentially) nested dict.
+
+    EXAMPLE USAGE
+    .. code-block:: python
+        assert access_path_to_dict('image__url', 'img.png') == {'image': {'url': 'img.png'}}
+    """
+    fields = access_path.split('__')
+    for field in reversed(fields):
+        result = {field: value}
+        value = result
+    return result
+
+
+def _dict_to_access_paths(d: dict) -> Dict[str, Any]:
+    """
+    Convert a (nested) dict to a Dict[access_path, value].
+    Access paths are defined as a path of field(s) separated by "__".
+
+    EXAMPLE USAGE
+    .. code-block:: python
+        assert dict_to_access_paths({'image': {'url': 'img.png'}}) == {'image__url', 'img.png'}
+    """
+    result = {}
+    for k, v in d.items():
+        if isinstance(v, dict):
+            v = _dict_to_access_paths(v)
+            for nested_k, nested_v in v.items():
+                new_key = '__'.join([k, nested_k])
+                result[new_key] = nested_v
+        else:
+            result[k] = v
+    return result
+
+
+def _update_nested_dicts(
+    to_update: Dict[Any, Any], update_with: Dict[Any, Any]
+) -> None:
+    """
+    Update a dict with another one, while considering shared nested keys.
+
+    EXAMPLE USAGE:
+
+    .. code-block:: python
+
+        d1 = {'image': {'tensor': None}, 'title': 'hello'}
+        d2 = {'image': {'url': 'some.png'}}
+
+        update_nested_dicts(d1, d2)
+        assert d1 == {'image': {'tensor': None, 'url': 'some.png'}, 'title': 'hello'}
+
+    :param to_update: dict that should be updated
+    :param update_with: dict to update with
+    :return: merged dict
+    """
+    for k, v in update_with.items():
+        if k not in to_update.keys():
+            to_update[k] = v
+        else:
+            _update_nested_dicts(to_update[k], update_with[k])
diff --git a/tests/toydata/docs_nested.csv b/tests/toydata/docs_nested.csv
new file mode 100644
index 00000000000..7b857870244
--- /dev/null
+++ b/tests/toydata/docs_nested.csv
@@ -0,0 +1,4 @@
+count,text,image,image2__url
+000,hello 0,image_0.png,image_10.png
+111,hello 1,image_1.png,None
+222,hello 2,image_2.png,
\ No newline at end of file
diff --git a/tests/units/array/test_array_from_to_csv.py b/tests/units/array/test_array_from_to_csv.py
new file mode 100644
index 00000000000..d1a6f326116
--- /dev/null
+++ b/tests/units/array/test_array_from_to_csv.py
@@ -0,0 +1,101 @@
+import os
+from typing import Optional
+
+import pytest
+
+from docarray import BaseDocument, DocumentArray
+from docarray.documents import Image
+from tests import TOYDATA_DIR
+
+
+@pytest.fixture()
+def nested_doc_cls():
+    class MyDoc(BaseDocument):
+        count: Optional[int]
+        text: str
+
+    class MyDocNested(MyDoc):
+        image: Image
+        image2: Image
+
+    return MyDocNested
+
+
+def test_to_from_csv(tmpdir, nested_doc_cls):
+    da = DocumentArray[nested_doc_cls](
+        [
+            nested_doc_cls(
+                count=0,
+                text='hello',
+                image=Image(url='aux.png'),
+                image2=Image(url='aux.png'),
+            ),
+            nested_doc_cls(text='hello world', image=Image(), image2=Image()),
+        ]
+    )
+    tmp_file = str(tmpdir / 'tmp.csv')
+    da.to_csv(tmp_file)
+    assert os.path.isfile(tmp_file)
+
+    da_from = DocumentArray[nested_doc_cls].from_csv(tmp_file)
+    for doc1, doc2 in zip(da, da_from):
+        assert doc1 == doc2
+
+
+def test_from_csv_nested(nested_doc_cls):
+    da = DocumentArray[nested_doc_cls].from_csv(
+        file_path=str(TOYDATA_DIR / 'docs_nested.csv')
+    )
+    assert len(da) == 3
+
+    for i, doc in enumerate(da):
+        assert doc.count.__class__ == int
+        assert doc.count == int(f'{i}{i}{i}')
+
+        assert doc.text.__class__ == str
+        assert doc.text == f'hello {i}'
+
+        assert doc.image.__class__ == Image
+        assert doc.image.tensor is None
+        assert doc.image.embedding is None
+        assert doc.image.bytes is None
+
+        assert doc.image2.__class__ == Image
+        assert doc.image2.tensor is None
+        assert doc.image2.embedding is None
+        assert doc.image2.bytes is None
+
+    assert da[0].image2.url == 'image_10.png'
+    assert da[1].image2.url is None
+    assert da[2].image2.url is None
+
+
+@pytest.fixture()
+def nested_doc():
+    class Inner(BaseDocument):
+        img: Optional[Image]
+
+    class Middle(BaseDocument):
+        img: Optional[Image]
+        inner: Optional[Inner]
+
+    class Outer(BaseDocument):
+        img: Optional[Image]
+        middle: Optional[Middle]
+
+    doc = Outer(img=Image(), middle=Middle(img=Image(), inner=Inner(img=Image())))
+    return doc
+
+
+def test_from_csv_without_schema_raise_exception():
+    with pytest.raises(TypeError, match='no document schema defined'):
+        DocumentArray.from_csv(file_path=str(TOYDATA_DIR / 'docs_nested.csv'))
+
+
+def test_from_csv_with_wrong_schema_raise_exception(nested_doc):
+    with pytest.raises(
+        ValueError, match='Fields provided in the csv file do not match the schema'
+    ):
+        DocumentArray[nested_doc.__class__].from_csv(
+            file_path=str(TOYDATA_DIR / 'docs.csv')
+        )
diff --git a/tests/units/array/test_array_from_to_json.py b/tests/units/array/test_array_from_to_json.py
index 79b98c43700..b46066156e5 100644
--- a/tests/units/array/test_array_from_to_json.py
+++ b/tests/units/array/test_array_from_to_json.py
@@ -1,9 +1,6 @@
-import pytest
-
-from docarray import BaseDocument
-from docarray.typing import NdArray
+from docarray import BaseDocument, DocumentArray
 from docarray.documents import Image
-from docarray import DocumentArray
+from docarray.typing import NdArray
 
 
 class MyDoc(BaseDocument):
diff --git a/tests/units/test_helper.py b/tests/units/test_helper.py
new file mode 100644
index 00000000000..e6730866b7b
--- /dev/null
+++ b/tests/units/test_helper.py
@@ -0,0 +1,89 @@
+from typing import Optional
+
+import pytest
+
+from docarray import BaseDocument
+from docarray.documents import Image
+from docarray.helper import (
+    _access_path_to_dict,
+    _dict_to_access_paths,
+    _update_nested_dicts,
+    is_access_path_valid,
+)
+
+
+@pytest.fixture()
+def nested_doc():
+    class Inner(BaseDocument):
+        img: Optional[Image]
+
+    class Middle(BaseDocument):
+        img: Optional[Image]
+        inner: Optional[Inner]
+
+    class Outer(BaseDocument):
+        img: Optional[Image]
+        middle: Optional[Middle]
+
+    doc = Outer(img=Image(), middle=Middle(img=Image(), inner=Inner(img=Image())))
+    return doc
+
+
+def test_is_access_path_valid(nested_doc):
+    assert is_access_path_valid(nested_doc.__class__, 'img')
+    assert is_access_path_valid(nested_doc.__class__, 'middle__img')
+    assert is_access_path_valid(nested_doc.__class__, 'middle__inner__img')
+    assert is_access_path_valid(nested_doc.__class__, 'middle')
+
+
+def test_is_access_path_not_valid(nested_doc):
+    assert not is_access_path_valid(nested_doc.__class__, 'inner')
+    assert not is_access_path_valid(nested_doc.__class__, 'some__other__path')
+    assert not is_access_path_valid(nested_doc.__class__, 'middle.inner')
+
+
+def test_get_access_paths():
+    class Painting(BaseDocument):
+        title: str
+        img: Image
+
+    access_paths = Painting._get_access_paths()
+    assert access_paths == [
+        'id',
+        'title',
+        'img__id',
+        'img__url',
+        'img__tensor',
+        'img__embedding',
+        'img__bytes',
+    ]
+
+
+def test_dict_to_access_paths():
+    d = {
+        'a0': {'b0': {'c0': 0}, 'b1': {'c0': 1}},
+        'a1': {'b0': {'c0': 2, 'c1': 3}, 'b1': 4},
+    }
+    casted = _dict_to_access_paths(d)
+    assert casted == {
+        'a0__b0__c0': 0,
+        'a0__b1__c0': 1,
+        'a1__b0__c0': 2,
+        'a1__b0__c1': 3,
+        'a1__b1': 4,
+    }
+
+
+def test_access_path_to_dict():
+    access_path = 'a__b__c__d__e'
+    value = 1
+    result = {'a': {'b': {'c': {'d': {'e': value}}}}}
+    assert _access_path_to_dict(access_path, value) == result
+
+
+def test_update_nested_dict():
+    d1 = {'text': 'hello', 'image': {'tensor': None}}
+    d2 = {'image': {'url': 'some.png'}}
+
+    _update_nested_dicts(d1, d2)
+    assert d1 == {'text': 'hello', 'image': {'tensor': None, 'url': 'some.png'}}