diff --git a/CMakeLists.txt b/CMakeLists.txt
index 7f3be1c13..8441d6f4c 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -264,6 +264,10 @@ set(BOOST_REQUIRED_COMPONENTS filesystem serialization system)
 set_boost_default_options()
 export_boost_default_options()
 add_project_dependency(Boost REQUIRED COMPONENTS ${BOOST_REQUIRED_COMPONENTS})
+# Search explicitly for boost_python when building python_parser
+if(BUILD_WITH_PYTHON_PARSER_SUPPORT)
+  search_for_boost_python(REQUIRED)
+endif()
 
 if(Boost_VERSION_STRING VERSION_LESS 1.81)
   if(BUILD_WITH_URDF_SUPPORT AND "${urdfdom_VERSION}" VERSION_GREATER "0.4.2")