diff --git a/rmw/CMakeLists.txt b/rmw/CMakeLists.txt
index 089d5cdf..4548e55a 100644
--- a/rmw/CMakeLists.txt
+++ b/rmw/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.10)
 
 project(rmw)
 
diff --git a/rmw_implementation_cmake/CMakeLists.txt b/rmw_implementation_cmake/CMakeLists.txt
index 8f32db56..95179e44 100644
--- a/rmw_implementation_cmake/CMakeLists.txt
+++ b/rmw_implementation_cmake/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.10)
 
 project(rmw_implementation_cmake NONE)