  Let $\Gamma$ be a finitely generated torsion free nilpotent group, and let
$A^\omega$ be the space of infinite words over a finite alphabet $A$. We
investigate two types of self-similar actions of $\Gamma$ on $A^\omega$, namely
the faithfull actions with dense orbits and the free actions. A criterion for
the existence of a self-similar action of each type is established.
  Two corollaries about the nilmanifolds are deduced. The first involves the
nilmanifolds endowed with an Anosov diffeomorphism, and the second about the
existence of an affine structure.
  Then we investigate the virtual actions of $\Gamma$, i.e. actions of a
subgroup $\Gamma'$ of finite index. A formula, with some number theoretical
content, is found for the minimal cardinal of an alphabet $A$ endowed with a
virtual self-similar action on $A^\omega$ of each type.
