diff --git a/cmake/MpcOptions.cmake b/cmake/MpcOptions.cmake
index 0fe3e1bf7..cac0c9d33 100644
--- a/cmake/MpcOptions.cmake
+++ b/cmake/MpcOptions.cmake
@@ -72,8 +72,12 @@ option(MUJOCO_ENABLE_RPATH "Enable RPath support when installing Mujoco." ON)
 mark_as_advanced(MUJOCO_ENABLE_RPATH)
 
 if(MUJOCO_ENABLE_AVX)
-  include(CheckAvxSupport)
-  get_avx_compile_options(AVX_COMPILE_OPTIONS)
+  if(CMAKE_SYSTEM_PROCESSOR MATCHES "x86_64|AMD64")
+    include(CheckAvxSupport)
+    get_avx_compile_options(AVX_COMPILE_OPTIONS)
+  else()
+    set(AVX_COMPILE_OPTIONS)
+  endif()
 else()
   set(AVX_COMPILE_OPTIONS)
 endif()