diff --git a/CMakeLists.txt b/CMakeLists.txt
index 6f23e3574..55d51331b 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -491,15 +491,9 @@ endif(MSVC)
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${g2o_CXX_FLAGS}")
 set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${g2o_C_FLAGS}")
 
-# Find Eigen3. If it defines the target, this is used. If not,
-# fall back to the using the module form.
+# Find Eigen3
 # See https://eigen.tuxfamily.org/dox/TopicCMakeGuide.html for details
-find_package(Eigen3 3.3 REQUIRED)
-if (TARGET Eigen3::Eigen)
-  set(G2O_EIGEN3_EIGEN_TARGET Eigen3::Eigen)
-else()
-  include_directories(${EIGEN3_INCLUDE_DIR})
-endif ()
+find_package(Eigen3 REQUIRED NO_MODULE)
 
 # Generate config.h
 set(G2O_OPENGL_FOUND ${OPENGL_FOUND})
diff --git a/benchmarks/CMakeLists.txt b/benchmarks/CMakeLists.txt
index 632c8a8c8..b894d98b7 100644
--- a/benchmarks/CMakeLists.txt
+++ b/benchmarks/CMakeLists.txt
@@ -4,4 +4,4 @@ target_include_directories(benchmark_jacobian_timing PUBLIC
   "$<BUILD_INTERFACE:${g2o_SOURCE_DIR};${g2o_BINARY_DIR}>"
 )
 
-target_link_libraries(benchmark_jacobian_timing benchmark::benchmark ${G2O_EIGEN3_EIGEN_TARGET})
+target_link_libraries(benchmark_jacobian_timing benchmark::benchmark Eigen3::Eigen)
diff --git a/g2o/core/CMakeLists.txt b/g2o/core/CMakeLists.txt
index 8accd54b8..d58f69db4 100644
--- a/g2o/core/CMakeLists.txt
+++ b/g2o/core/CMakeLists.txt
@@ -50,7 +50,7 @@ set_target_properties(core PROPERTIES OUTPUT_NAME ${LIB_PREFIX}core)
 set_target_properties(core PROPERTIES
   VERSION ${G2O_LIB_VERSION}
   SOVERSION ${G2O_LIB_SOVERSION})
-target_link_libraries(core PUBLIC stuff ${G2O_EIGEN3_EIGEN_TARGET})
+target_link_libraries(core PUBLIC stuff Eigen3::Eigen)
 target_link_libraries(core PUBLIC g2o_ceres_ad)
 target_compile_features(core PUBLIC cxx_std_17)
 
diff --git a/g2o/solvers/csparse/CMakeLists.txt b/g2o/solvers/csparse/CMakeLists.txt
index e818a7ea3..7d0e0056a 100644
--- a/g2o/solvers/csparse/CMakeLists.txt
+++ b/g2o/solvers/csparse/CMakeLists.txt
@@ -19,7 +19,7 @@ target_include_directories(csparse_extension PUBLIC
   ${CSPARSE_INCLUDE_DIR}
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
   $<INSTALL_INTERFACE:include/g2o/solvers/csparse>)
-target_link_libraries(csparse_extension PUBLIC stuff ${CSPARSE_LIBRARY} ${G2O_EIGEN3_EIGEN_TARGET})
+target_link_libraries(csparse_extension PUBLIC stuff ${CSPARSE_LIBRARY} Eigen3::Eigen)
 
 add_library(solver_csparse ${G2O_LIB_TYPE}
   solver_csparse.cpp
diff --git a/g2o/stuff/CMakeLists.txt b/g2o/stuff/CMakeLists.txt
index b5c9a388c..08c9a4491 100644
--- a/g2o/stuff/CMakeLists.txt
+++ b/g2o/stuff/CMakeLists.txt
@@ -28,7 +28,7 @@ set_target_properties(stuff PROPERTIES
   VERSION ${G2O_LIB_VERSION}
   SOVERSION ${G2O_LIB_SOVERSION})
 target_compile_features(stuff PUBLIC cxx_std_17)
-target_link_libraries(stuff PUBLIC ${G2O_EIGEN3_EIGEN_TARGET})
+target_link_libraries(stuff PUBLIC Eigen3::Eigen)
 
 if (APPLE)
   set_target_properties(stuff PROPERTIES INSTALL_NAME_DIR "${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_LIBDIR}")
@@ -67,7 +67,7 @@ if(OPENGL_FOUND AND G2O_HAVE_OPENGL)
     $<INSTALL_INTERFACE:include/g2o/stuff>
   )
 
-  target_link_libraries(opengl_helper PUBLIC ${G2O_OPENGL_TARGET} ${G2O_EIGEN3_EIGEN_TARGET})
+  target_link_libraries(opengl_helper PUBLIC ${G2O_OPENGL_TARGET} Eigen3::Eigen)
   target_compile_features(opengl_helper PUBLIC cxx_std_17)
   set_target_properties(opengl_helper PROPERTIES OUTPUT_NAME "${LIB_PREFIX}opengl_helper")
   set_target_properties(opengl_helper PROPERTIES