The present invention relates to new crystalline forms of Cabazitaxel of formula (I). Specifically, the present invention provides four new crystalline solvate forms of Cabazitaxel, designated as form S2 (solvate with 2-methyltetrahydrofuran), form S4 (solvate with tert-butyl acetate), form S5 (solvate with dimethylcarbonate) and form S6 (solvate with N-methyl-2-pyrrolidinone). A further object of the present invention are processes for the preparation of the above mentioned crystalline forms. The crystalline solvate forms of the invention are especially useful for the preparation of Cabazitaxel, Cabazitaxel salts, and polymorphic forms thereof.