diff --git a/.ci/packages_vars.sh b/.ci/packages_vars.sh
index 27277d7db6..70cc286da6 100755
--- a/.ci/packages_vars.sh
+++ b/.ci/packages_vars.sh
@@ -14,7 +14,7 @@ YCM_PACKAGE_URL_buster="https://github.com/robotology/ycm/releases/download/v${Y
 YCM_PACKAGE_URL_bionic="https://github.com/robotology/ycm/releases/download/v${YCM_REQUIRED_VERSION}/${YCM_PACKAGE}_${YCM_REQUIRED_VERSION}-1.ubuntu18.04.robotology1_all.deb"
 YCM_PACKAGE_URL_focal="https://github.com/robotology/ycm/releases/download/v${YCM_REQUIRED_VERSION}/${YCM_PACKAGE}_${YCM_REQUIRED_VERSION}-1.ubuntu20.04.robotology1_all.deb"
 
-YARP_REQUIRED_VERSION="3.5.1"
+YARP_REQUIRED_VERSION="3.6.0"
 YARP_PACKAGE_URL_buster="https://github.com/robotology/yarp/releases/download/v${YARP_REQUIRED_VERSION}/yarp-${YARP_REQUIRED_VERSION}-2.buster_amd64.deb"
 YARP_PACKAGE_URL_bionic="https://github.com/robotology/yarp/releases/download/v${YARP_REQUIRED_VERSION}/yarp-${YARP_REQUIRED_VERSION}-2.bionic_amd64.deb"
 YARP_PACKAGE_URL_focal="https://github.com/robotology/yarp/releases/download/v${YARP_REQUIRED_VERSION}/yarp-${YARP_REQUIRED_VERSION}-2.focal_amd64.deb"
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 70ede616bf..40858a91d6 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -15,7 +15,7 @@ set(CMAKE_CXX_STANDARD_REQUIRED ON)
 option(ICUB_COMPILE_BINDINGS "Compile optional language bindings"  FALSE)
 
 set(YCM_REQUIRED_VERSION 0.13.0)
-set(YARP_REQUIRED_VERSION 3.5.100)
+set(YARP_REQUIRED_VERSION 3.6.0)
 
 find_package(YCM ${YCM_REQUIRED_VERSION} REQUIRED)
 find_package(YARP ${YARP_REQUIRED_VERSION} REQUIRED)