It is well known that, under inertialess conditions, the orientation vector of a torque-free neutrally buoyant spheroid in an ambient simple shear flow rotates along so-called Jeffery orbits, a one-parameter family of closed orbits on the unit sphere centred around the direction of the ambient vorticity (Jeffery, Proc. R. Soc. Lond. A, vol. 102, 1922, pp. 161-179). We characterize analytically the irreversible drift in the orientation of such torque-free spheroidal particles of an arbitrary aspect ratio, across Jeffery orbits, that arises due to weak inertial effects. The analysis is valid in the limit Re, St 1, where Re = (γ L 2 ρ f )/µ and St = (γ L 2 ρ p )/µ are the Reynolds and Stokes numbers, which, respectively, measure the importance of fluid inertial forces and particle inertia in relation to viscous forces at the particle scale. Here, L is the semimajor axis of the spheroid, ρ p and ρ f are the particle and fluid densities, γ is the ambient shear rate, and µ is the suspending fluid viscosity. A reciprocal theorem formulation is used to obtain the contributions to the drift due to particle and fluid inertia, the latter in terms of a volume integral over the entire fluid domain. The resulting drifts in orientation at O(Re) and O(St) are evaluated, as a function of the particle aspect ratio, for both prolate and oblate spheroids using a vector spheroidal harmonics formalism. It is found that particle inertia, at O(St), causes a prolate spheroid to drift towards an eventual tumbling motion in the flow-gradient plane. Oblate spheroids, on account of the O(St) drift, move in the opposite direction, approaching a steady spinning motion about the ambient vorticity axis. The period of rotation in the spinning mode must remain unaltered to all orders in St. For the tumbling mode, the period remains unaltered at O(St). At O(St 2 ), however, particle inertia speeds up the rotation of prolate spheroids. The O(Re) drift due to fluid inertia drives a prolate spheroid towards a tumbling motion in the flow-gradient plane for all initial orientations and for all aspect ratios. Interestingly, for oblate spheroids, there is a bifurcation in the orientation dynamics at a critical aspect ratio of approximately 0.14. Oblate spheroids with aspect ratios greater than this critical value drift in a direction opposite to that for prolate spheroids, and eventually approach a spinning motion about the ambient vorticity axis starting from any initial † Email address for correspondence: sganesh@jncasr.ac.in ‡ Present address: Aerospace Engineering and Mechanics, University of Minnesota, MN, USA. § These authors contributed equally to this work. 632 V. Dabade, N. K. Marath and G. Subramanian orientation. For smaller aspect ratios, a pair of non-trivial repelling orbits emerge from the flow-gradient plane, and divide the unit sphere into distinct basins of orientations that asymptote to the tumbling and spinning modes. With further decrease in the aspect ratio, these repellers move away from the flow-gradient plane, eventually coalesci...