diff --git a/rviz_common/CMakeLists.txt b/rviz_common/CMakeLists.txt
index 154e1f003..ee1969e88 100644
--- a/rviz_common/CMakeLists.txt
+++ b/rviz_common/CMakeLists.txt
@@ -53,7 +53,6 @@ find_package(tf2 REQUIRED)
 find_package(tf2_ros REQUIRED)
 find_package(message_filters REQUIRED)
 find_package(urdf REQUIRED)
-find_package(yaml_cpp_vendor REQUIRED)
 find_package(yaml-cpp REQUIRED)
 
 find_package(TinyXML2 REQUIRED)  # provided by tinyxml2_vendor
@@ -286,7 +285,6 @@ ament_export_dependencies(
   std_srvs
   tf2
   tf2_ros
-  yaml_cpp_vendor
   yaml-cpp
 )
 
diff --git a/rviz_common/package.xml b/rviz_common/package.xml
index ef31a6469..1d32c39d1 100644
--- a/rviz_common/package.xml
+++ b/rviz_common/package.xml
@@ -51,7 +51,7 @@
   <depend>message_filters</depend>
   <depend>tinyxml2_vendor</depend>
   <depend>urdf</depend>
-  <depend>yaml_cpp_vendor</depend>
+  <depend>yaml-cpp</depend>
 
   <test_depend>ament_lint_common</test_depend>
   <test_depend>ament_cmake_gmock</test_depend>