diff --git a/moveit_py/CMakeLists.txt b/moveit_py/CMakeLists.txt
index d289b1fbfc..b4c73ad679 100644
--- a/moveit_py/CMakeLists.txt
+++ b/moveit_py/CMakeLists.txt
@@ -9,7 +9,6 @@ find_package(moveit_ros_planning REQUIRED)
 find_package(moveit_ros_planning_interface REQUIRED)
 find_package(moveit_core REQUIRED)
 find_package(Python3 REQUIRED COMPONENTS Interpreter Development)
-find_package(pybind11_vendor REQUIRED)
 find_package(pybind11 REQUIRED)
 
 # enables using the Python extensions from the build space for testing
diff --git a/moveit_py/package.xml b/moveit_py/package.xml
index fb661f49fd..c42770ae78 100644
--- a/moveit_py/package.xml
+++ b/moveit_py/package.xml
@@ -13,7 +13,7 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <build_depend>pybind11_vendor</build_depend>
+  <build_depend>pybind11-dev</build_depend>
 
   <exec_depend>ament_index_python</exec_depend>