diff --git a/CMakeLists.txt b/CMakeLists.txt
index a0703082..0c064408 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required( VERSION 3.5 FATAL_ERROR )
+cmake_minimum_required( VERSION 3.20 FATAL_ERROR )
 project (urdfdom CXX C)
 
 set (URDF_MAJOR_VERSION 5)