Planetesimal formation models often invoke the gravitational collapse of pebble clouds to overcome various barriers to grain growth and propose processes to concentrate particles sufficiently to trigger this collapse. On the other hand, the geochemical approach for planet formation constrains the conditions for planetesimal formation and evolution by providing temperatures that should be reached to explain the final composition of planetesimals, the building blocks of planets. To elucidate the thermal evolution during gravitational collapse, we used numerical simulations of a self-gravitating cloud of particles and gas coupled with gas drag. Our goal is to determine how the gravitational energy relaxed during the contraction is distributed among the different energy components of the system, and how this constrains a thermal and dynamical planetesimal’s history. We identify the conditions necessary to achieve a temperature increase of several hundred kelvins, and as much as 1600 K. Our results emphasise the key role of the gas during the collapse.