diff --git a/CMakeLists.txt b/CMakeLists.txt
index 25e50615..a0703082 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -45,7 +45,6 @@ endif (MSVC OR MSVC90 OR MSVC10)
 
 list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
 
-find_package(tinyxml2_vendor QUIET)
 find_package(TinyXML2 REQUIRED)
 
 find_package(urdfdom_headers REQUIRED)
diff --git a/cmake/urdfdom-config.cmake.in b/cmake/urdfdom-config.cmake.in
index ee84f41d..1633bcc2 100644
--- a/cmake/urdfdom-config.cmake.in
+++ b/cmake/urdfdom-config.cmake.in
@@ -35,7 +35,6 @@ foreach(lib @PKG_LIBRARIES@)
   list(APPEND @PKG_NAME@_TARGETS @PROJECT_NAME@::${lib})
 endforeach()
 
-find_package(tinyxml2_vendor QUIET)
 foreach(dep @PKG_DEPENDS@)
   if(NOT ${dep}_FOUND)
     find_package(${dep})
diff --git a/package.xml b/package.xml
index 011373b3..29df973e 100644
--- a/package.xml
+++ b/package.xml
@@ -18,7 +18,6 @@
   <build_depend>console_bridge_vendor</build_depend>
   <build_depend>libconsole-bridge-dev</build_depend>
   <build_depend>tinyxml2</build_depend>
-  <build_depend>tinyxml2_vendor</build_depend>
   <build_depend version_gte="0.2.3">urdfdom_headers</build_depend>
 
   <buildtool_depend>cmake</buildtool_depend>
@@ -26,7 +25,6 @@
   <exec_depend>console_bridge_vendor</exec_depend>
   <exec_depend>libconsole-bridge-dev</exec_depend>
   <exec_depend>tinyxml2</exec_depend>
-  <exec_depend>tinyxml2_vendor</exec_depend>
   <exec_depend version_gte="0.2.3">urdfdom_headers</exec_depend>
 
   <test_depend>python3</test_depend>