diff --git a/statemachine/factory.py b/statemachine/factory.py
index e5428e4..4d2789d 100644
--- a/statemachine/factory.py
+++ b/statemachine/factory.py
@@ -2,8 +2,10 @@
 from typing import TYPE_CHECKING
 from typing import Any
 from typing import Dict
+from typing import Generic
 from typing import List
 from typing import Tuple
+from typing import TypeVar
 
 from . import registry
 from .event import Event
@@ -17,6 +19,10 @@
 from .transition_list import TransitionList
 
 
+TModel = TypeVar("TModel")
+"""TypeVar for the model type in StateMachine."""
+
+
 class StateMachineMetaclass(type):
     "Metaclass for constructing StateMachine classes"
 
@@ -36,7 +42,9 @@ def __init__(
 
         cls._abstract = True
         cls._strict_states = strict_states
-        cls._events: Dict[Event, None] = {}  # used Dict to preserve order and avoid duplicates
+        cls._events: Dict[Event, None] = (
+            {}
+        )  # used Dict to preserve order and avoid duplicates
         cls._protected_attrs: set = set()
         cls._events_to_update: Dict[Event, Event | None] = {}
 
@@ -98,9 +106,9 @@ def _check_final_states(cls):
 
         if final_state_with_invalid_transitions:
             raise InvalidDefinition(
-                _("Cannot declare transitions from final state. Invalid state(s): {}").format(
-                    [s.id for s in final_state_with_invalid_transitions]
-                )
+                _(
+                    "Cannot declare transitions from final state. Invalid state(s): {}"
+                ).format([s.id for s in final_state_with_invalid_transitions])
             )
 
     def _check_trap_states(cls):
@@ -133,7 +141,8 @@ def _states_without_path_to_final_states(cls):
         return [
             state
             for state in cls.states
-            if not state.final and not any(s.final for s in visit_connected_states(state))
+            if not state.final
+            and not any(s.final for s in visit_connected_states(state))
         ]
 
     def _disconnected_states(cls, starting_state):
@@ -259,3 +268,17 @@ def _update_event_references(cls):
     @property
     def events(self):
         return list(self._events)
+
+
+class GenericStateMachineMetaclass(StateMachineMetaclass, type(Generic)):  # type: ignore[misc]
+    """
+    Metaclass that combines StateMachineMetaclass with Generic.
+
+    This allows StateMachine to be parameterized with a model type using Generic[TModel],
+    enabling type checkers to infer the correct type of the `model` attribute.
+
+    The type: ignore[misc] is necessary because mypy has limitations with generic metaclasses,
+    but this pattern works correctly at runtime and with type checkers.
+    """
+
+    pass
diff --git a/statemachine/statemachine.py b/statemachine/statemachine.py
index e5fe262..e0f8f0a 100644
--- a/statemachine/statemachine.py
+++ b/statemachine/statemachine.py
@@ -3,6 +3,7 @@
 from typing import TYPE_CHECKING
 from typing import Any
 from typing import Dict
+from typing import Generic
 from typing import List
 
 from .callbacks import SPECS_ALL
@@ -18,7 +19,8 @@
 from .exceptions import InvalidDefinition
 from .exceptions import InvalidStateValue
 from .exceptions import TransitionNotAllowed
-from .factory import StateMachineMetaclass
+from .factory import GenericStateMachineMetaclass
+from .factory import TModel
 from .graph import iterate_states_and_transitions
 from .i18n import _
 from .model import Model
@@ -29,7 +31,7 @@
     from .state import State
 
 
-class StateMachine(metaclass=StateMachineMetaclass):
+class StateMachine(Generic[TModel], metaclass=GenericStateMachineMetaclass):
     """
 
     Args:
@@ -68,14 +70,14 @@ class StateMachine(metaclass=StateMachineMetaclass):
 
     def __init__(
         self,
-        model: Any = None,
+        model: "TModel | None" = None,
         state_field: str = "state",
         start_value: Any = None,
         rtc: bool = True,
         allow_event_without_transition: bool = False,
         listeners: "List[object] | None" = None,
     ):
-        self.model = model if model is not None else Model()
+        self.model: TModel = model if model is not None else Model()  # type: ignore[assignment]
         self.state_field = state_field
         self.start_value = start_value
         self.allow_event_without_transition = allow_event_without_transition
@@ -149,7 +151,9 @@ def __setstate__(self, state):
         self._engine = self._get_engine(rtc)
 
     def _get_initial_state(self):
-        initial_state_value = self.start_value if self.start_value else self.initial_state.value
+        initial_state_value = (
+            self.start_value if self.start_value else self.initial_state.value
+        )
         try:
             return self.states_map[initial_state_value]
         except KeyError as err:
@@ -170,7 +174,9 @@ def bind_events_to(self, *targets):
                     continue
                 setattr(target, event, trigger)
 
-    def _add_listener(self, listeners: "Listeners", allowed_references: SpecReference = SPECS_ALL):
+    def _add_listener(
+        self, listeners: "Listeners", allowed_references: SpecReference = SPECS_ALL
+    ):
         registry = self._callbacks
         for visited in iterate_states_and_transitions(self.states):
             listeners.resolve(
@@ -292,7 +298,10 @@ def events(self) -> "List[Event]":
     @property
     def allowed_events(self) -> "List[Event]":
         """List of the current allowed events."""
-        return [getattr(self, event) for event in self.current_state.transitions.unique_events]
+        return [
+            getattr(self, event)
+            for event in self.current_state.transitions.unique_events
+        ]
 
     def _put_nonblocking(self, trigger_data: TriggerData):
         """Put the trigger on the queue without blocking the caller."""
diff --git a/tests/test_generic_support.py b/tests/test_generic_support.py
new file mode 100644
index 0000000..91877aa
--- /dev/null
+++ b/tests/test_generic_support.py
@@ -0,0 +1,128 @@
+"""Tests for Generic[TModel] support in StateMachine.
+
+Test that type checkers can infer the correct model type when using Generic[TModel].
+"""
+
+import pytest
+
+from statemachine import State
+from statemachine import StateMachine
+
+
+class CustomModel:
+    """Custom model for testing"""
+
+    def __init__(self):
+        self.state = None
+        self.custom_attr = "test_value"
+        self.counter = 0
+
+
+class GenericStateMachine(StateMachine[CustomModel]):
+    """State machine using Generic[CustomModel] for type safety"""
+
+    initial = State("Initial", initial=True)
+    processing = State("Processing")
+    final = State("Final", final=True)
+
+    start = initial.to(processing)
+    finish = processing.to(final)
+
+
+class TestGenericSupport:
+    """Test suite for Generic[TModel] support"""
+
+    def test_generic_statemachine_with_custom_model(self):
+        """Test that StateMachine[CustomModel] works with a custom model instance"""
+        model = CustomModel()
+        sm = GenericStateMachine(model=model)
+
+        assert sm.model is model
+        assert sm.model.custom_attr == "test_value"
+        assert sm.model.counter == 0
+
+    def test_generic_statemachine_with_default_model(self):
+        """Test that StateMachine[CustomModel] works with default Model()"""
+        sm = GenericStateMachine()
+
+        # Default model should be Model(), not CustomModel
+        assert sm.model is not None
+        assert sm.current_state == sm.initial
+
+    def test_generic_statemachine_transitions_work(self):
+        """Test that transitions work correctly with generic state machine"""
+        model = CustomModel()
+        sm = GenericStateMachine(model=model)
+
+        assert sm.current_state == sm.initial
+
+        sm.start()
+        assert sm.current_state == sm.processing
+
+        sm.finish()
+        assert sm.current_state == sm.final
+
+    def test_generic_statemachine_model_persists_across_transitions(self):
+        """Test that model state persists across transitions"""
+        model = CustomModel()
+        sm = GenericStateMachine(model=model)
+
+        # Modify model
+        sm.model.counter = 42
+        sm.model.custom_attr = "modified"
+
+        # Transition
+        sm.start()
+
+        # Model state should persist
+        assert sm.model.counter == 42
+        assert sm.model.custom_attr == "modified"
+
+    def test_backward_compatibility_without_generic(self):
+        """Test that traditional usage without Generic still works"""
+
+        class TraditionalMachine(StateMachine):
+            """Non-generic state machine for backward compatibility"""
+
+            idle = State("Idle", initial=True)
+            running = State("Running")
+
+            run = idle.to(running)
+
+        sm = TraditionalMachine()
+        assert sm.current_state == sm.idle
+
+        sm.run()
+        assert sm.current_state == sm.running
+
+    def test_multiple_generic_machines_with_different_models(self):
+        """Test that different generic machines can use different model types"""
+
+        class ModelA:
+            def __init__(self):
+                self.state = None
+                self.value_a = "A"
+
+        class ModelB:
+            def __init__(self):
+                self.state = None
+                self.value_b = "B"
+
+        class MachineA(StateMachine[ModelA]):
+            initial = State("Initial", initial=True)
+            final = State("Final", final=True)
+            go = initial.to(final)
+
+        class MachineB(StateMachine[ModelB]):
+            start = State("Start", initial=True)
+            end = State("End", final=True)
+            advance = start.to(end)
+
+        model_a = ModelA()
+        model_b = ModelB()
+
+        sm_a = MachineA(model=model_a)
+        sm_b = MachineB(model=model_b)
+
+        assert sm_a.model.value_a == "A"
+        assert sm_b.model.value_b == "B"