diff --git a/CMakeLists.txt b/CMakeLists.txt
index 294735b785c26bdaf08046406c7c45c8ab37fe5a..55c7f12993278f8c8c6709f4859a9c4b1bc61b57 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -39,7 +39,7 @@ SET(PKG_CONFIG_ADDITIONAL_VARIABLES
 
 SETUP_PROJECT()
 # Search for dependencies.
-ADD_REQUIRED_DEPENDENCY("pinocchio")
+ADD_REQUIRED_DEPENDENCY("pinocchio >= 1.2.0")
 ADD_REQUIRED_DEPENDENCY("eigenpy")
 ADD_REQUIRED_DEPENDENCY("dynamic-graph >= 3.0.0")
 ADD_REQUIRED_DEPENDENCY("sot-core >= 3.0.0")