diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 30750d6ab7..f98bca6060 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -74,6 +74,14 @@ repos:
         # https://google.github.io/styleguide/cppguide.html
         # relevant rules are whitelisted, see all options with: cpplint --filter=
         - --filter=-build,-legal,-readability,-runtime,-whitespace,+build/include_subdir,+build/forward_decl,+build/include_what_you_use,+build/deprecated,+whitespace/comma,+whitespace/line_length,+whitespace/empty_if_body,+whitespace/empty_loop_body,+whitespace/empty_conditional_body,+whitespace/forcolon,+whitespace/parens,+whitespace/semicolon,+whitespace/tab,+readability/braces
+-   repo: https://github.com/MarcoGorelli/cython-lint
+    rev: v0.16.0
+    hooks:
+    -   id: cython-lint
+        exclude: '^(third_party/)|(cereal/)|(body/)|(rednose/)|(rednose_repo/)|(opendbc/)|(panda/)|(generated/)'
+        args:
+        - --max-line-length=240
+        - --ignore=E111, E302, E305
 -   repo: local
     hooks:
     -   id: test_translations
diff --git a/common/params_pyx.pyx b/common/params_pyx.pyx
index 47d2075df2..535514e521 100644
--- a/common/params_pyx.pyx
+++ b/common/params_pyx.pyx
@@ -29,7 +29,7 @@ cdef extern from "common/params.h":
 
 
 def ensure_bytes(v):
-  return v.encode() if isinstance(v, str) else v;
+  return v.encode() if isinstance(v, str) else v
 
 class UnknownKeyName(Exception):
   pass
diff --git a/common/transformations/transformations.pxd b/common/transformations/transformations.pxd
index 7af0098701..964adf06ec 100644
--- a/common/transformations/transformations.pxd
+++ b/common/transformations/transformations.pxd
@@ -1,4 +1,4 @@
-#cython: language_level=3
+# cython: language_level=3
 from libcpp cimport bool
 
 cdef extern from "orientation.cc":
diff --git a/common/transformations/transformations.pyx b/common/transformations/transformations.pyx
index c5cb9e0056..ae045c369d 100644
--- a/common/transformations/transformations.pyx
+++ b/common/transformations/transformations.pyx
@@ -17,7 +17,6 @@ from openpilot.common.transformations.transformations cimport ecef2geodetic as e
 from openpilot.common.transformations.transformations cimport LocalCoord_c
 
 
-import cython
 import numpy as np
 cimport numpy as np
 
@@ -34,14 +33,14 @@ cdef Matrix3 numpy2matrix(np.ndarray[double, ndim=2, mode="fortran"] m):
     return Matrix3(<double*>m.data)
 
 cdef ECEF list2ecef(ecef):
-    cdef ECEF e;
+    cdef ECEF e
     e.x = ecef[0]
     e.y = ecef[1]
     e.z = ecef[2]
     return e
 
 cdef NED list2ned(ned):
-    cdef NED n;
+    cdef NED n
     n.n = ned[0]
     n.e = ned[1]
     n.d = ned[2]
@@ -61,7 +60,7 @@ def euler2quat_single(euler):
 
 def quat2euler_single(quat):
     cdef Quaternion q = Quaternion(quat[0], quat[1], quat[2], quat[3])
-    cdef Vector3 e = quat2euler_c(q);
+    cdef Vector3 e = quat2euler_c(q)
     return [e(0), e(1), e(2)]
 
 def quat2rot_single(quat):
diff --git a/selfdrive/modeld/models/commonmodel_pyx.pxd b/selfdrive/modeld/models/commonmodel_pyx.pxd
index 21c0716de4..97e3914588 100644
--- a/selfdrive/modeld/models/commonmodel_pyx.pxd
+++ b/selfdrive/modeld/models/commonmodel_pyx.pxd
@@ -7,7 +7,7 @@ cdef class CLContext(BaseCLContext):
   pass
 
 cdef class CLMem:
-  cdef cl_mem * mem;
+  cdef cl_mem * mem
 
   @staticmethod
   cdef create(void*)
diff --git a/selfdrive/modeld/runners/runmodel_pyx.pyx b/selfdrive/modeld/runners/runmodel_pyx.pyx
index cdc62a79be..e1b201a6a9 100644
--- a/selfdrive/modeld/runners/runmodel_pyx.pyx
+++ b/selfdrive/modeld/runners/runmodel_pyx.pyx
@@ -2,7 +2,6 @@
 # cython: c_string_encoding=ascii
 
 from libcpp.string cimport string
-from libc.string cimport memcpy
 
 from .runmodel cimport USE_CPU_RUNTIME, USE_GPU_RUNTIME, USE_DSP_RUNTIME
 from selfdrive.modeld.models.commonmodel_pyx cimport CLMem