diff --git a/cv_bridge/CMakeLists.txt b/cv_bridge/CMakeLists.txt
index 83f550e30..00e7c225b 100644
--- a/cv_bridge/CMakeLists.txt
+++ b/cv_bridge/CMakeLists.txt
@@ -12,23 +12,28 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra)
 endif()
 
-if(ANDROID)
-  find_package(Boost REQUIRED)
-  set(boost_python_target "")
-else()
-  find_package(Python3 REQUIRED COMPONENTS Development NumPy)
-  find_package(Boost QUIET)
-  if(Boost_VERSION_STRING VERSION_LESS "1.67")
-    # This is a bit of a hack to suppress a warning
-    #   No header defined for python3; skipping header check
-    # Which should only affect Boost versions < 1.67
-    # Resolution for newer versions:
-    #  https://gitlab.kitware.com/cmake/cmake/issues/16391
-    set(_Boost_PYTHON3_HEADERS "boost/python.hpp")
+if(NOT ANDROID)
+  find_package(PythonLibs)
+  if(PYTHONLIBS_VERSION_STRING VERSION_LESS 3)
+    find_package(Boost REQUIRED python)
+  else()
+    find_package(Boost QUIET)
+    if(Boost_VERSION LESS 106500)
+      find_package(Boost REQUIRED python)
+    else()
+      # This is a bit of a hack to suppress a warning
+      #   No header defined for python3; skipping header check
+      # Which should only affect Boost versions < 1.67
+      # Resolution for newer versions:
+      #  https://gitlab.kitware.com/cmake/cmake/issues/16391
+      if (Boost_VERSION LESS 106700)
+        set(_Boost_PYTHON3_HEADERS "boost/python.hpp")
+      endif()
+      find_package(Boost COMPONENTS python3 REQUIRED)
+    endif()
   endif()
-  find_package(Python3 REQUIRED COMPONENTS Development NumPy)
-  find_package(Boost REQUIRED COMPONENTS python${Python3_VERSION_MAJOR}${Python3_VERSION_MINOR})
-  set(boost_python_target "Boost::python${Python3_VERSION_MAJOR}${Python3_VERSION_MINOR}")
+else()
+  find_package(Boost REQUIRED COMPONENTS python)
 endif()
 
 find_package(rcpputils REQUIRED)
diff --git a/cv_bridge/src/CMakeLists.txt b/cv_bridge/src/CMakeLists.txt
index a28fec325..7eea3ee38 100644
--- a/cv_bridge/src/CMakeLists.txt
+++ b/cv_bridge/src/CMakeLists.txt
@@ -26,10 +26,12 @@ install(FILES
   DESTINATION include/${PROJECT_NAME}/${PROJECT_NAME})
 
 if(NOT ANDROID)
+  find_package(Python3 REQUIRED COMPONENTS Development NumPy)
+
   Python3_add_library(${PROJECT_NAME}_boost MODULE module.cpp module_opencv3.cpp)
   target_link_libraries(${PROJECT_NAME}_boost PRIVATE
     ${PROJECT_NAME}
-    ${boost_python_target}
+    Boost::python
     Python3::NumPy)
   target_compile_definitions(${PROJECT_NAME}_boost PRIVATE PYTHON3)