diff --git a/cmake/MujocoDependencies.cmake b/cmake/MujocoDependencies.cmake
index bd7bdfe8..77a52dec 100644
--- a/cmake/MujocoDependencies.cmake
+++ b/cmake/MujocoDependencies.cmake
@@ -39,7 +39,7 @@ set(MUJOCO_DEP_VERSION_qhull
     CACHE STRING "Version of `qhull` to be fetched."
 )
 set(MUJOCO_DEP_VERSION_Eigen3
-    b396a6fbb2e173f52edb3360485dedf3389ef830
+    d34b100c137ac931379ae5e1b888f16a9c8d6c72
     CACHE STRING "Version of `Eigen3` to be fetched."
 )
 
diff --git a/python/mujoco/CMakeLists.txt b/python/mujoco/CMakeLists.txt
index 546cdf63..fe09488f 100644
--- a/python/mujoco/CMakeLists.txt
+++ b/python/mujoco/CMakeLists.txt
@@ -173,7 +173,7 @@ findorfetch(
   GIT_REPO
   https://gitlab.com/libeigen/eigen
   GIT_TAG
-  b396a6fbb2e173f52edb3360485dedf3389ef830
+  d34b100c137ac931379ae5e1b888f16a9c8d6c72
   TARGETS
   Eigen3::Eigen
   EXCLUDE_FROM_ALL