diff --git a/CMakeLists.txt b/CMakeLists.txt
index d7009dcb..674dc521 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -35,6 +35,11 @@ add_project_dependency(SpaceVecAlg REQUIRED NO_MODULE)
 
 if(BUILD_RBDYN_PARSERS)
   add_project_dependency(yaml-cpp 0.5.0 REQUIRED NO_MODULE)
+  if(TARGET yaml-cpp::yaml-cpp)
+    set(YAML_CPP_TARGET yaml-cpp::yaml-cpp)
+  else()
+    set(YAML_CPP_TARGET yaml-cpp)
+  endif()
 
   find_package(tinyxml2 QUIET NO_MODULE)
   if(NOT ${tinyxml2_FOUND})
diff --git a/binding/python/CMakeLists.txt b/binding/python/CMakeLists.txt
index a8093bbe..c23f80b3 100644
--- a/binding/python/CMakeLists.txt
+++ b/binding/python/CMakeLists.txt
@@ -18,7 +18,7 @@ if(${BUILD_RBDYN_PARSERS})
        tests/test_rbdyn_parsers.py)
   list(APPEND RBDYN_BINDINGS_TARGETS RBDyn::Parsers)
   if(NOT BUILD_SHARED_LIBS)
-    list(APPEND RBDYN_BINDINGS_TARGETS yaml-cpp tinyxml2::tinyxml2)
+    list(APPEND RBDYN_BINDINGS_TARGETS ${YAML_CPP_TARGET} tinyxml2::tinyxml2)
   endif()
 endif()
 
diff --git a/src/parsers/CMakeLists.txt b/src/parsers/CMakeLists.txt
index e2103a91..9d1b3656 100644
--- a/src/parsers/CMakeLists.txt
+++ b/src/parsers/CMakeLists.txt
@@ -13,8 +13,8 @@ target_include_directories(
   PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
          $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/../include>
          $<INSTALL_INTERFACE:include>)
-target_link_libraries(RBDynParsers PUBLIC RBDyn tinyxml2::tinyxml2 yaml-cpp
-                                          Boost::boost)
+target_link_libraries(RBDynParsers PUBLIC RBDyn tinyxml2::tinyxml2
+                                          ${YAML_CPP_TARGET} Boost::boost)
 if(BUILD_SHARED_LIBS)
   set_target_properties(RBDynParsers PROPERTIES COMPILE_FLAGS
                                                 "-DRBDYN_PARSERS_EXPORTS")