diff --git a/CMakeLists.txt b/CMakeLists.txt
index f1a91843..a70b2879 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -173,7 +173,7 @@ if(NOT (APPLE AND MUJOCO_BUILD_MACOS_FRAMEWORKS))
     RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT runtime
     LIBRARY DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT runtime
     ARCHIVE DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT dev
-    PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR} COMPONENT dev
+    PUBLIC_HEADER DESTINATION "${CMAKE_INSTALL_INCLUDEDIR}/mujoco" COMPONENT dev
   )
 
   set(CONFIG_PACKAGE_LOCATION "${CMAKE_INSTALL_LIBDIR}/cmake/${PROJECT_NAME}")