diff --git a/rosbag2_performance/rosbag2_performance_benchmarking/CMakeLists.txt b/rosbag2_performance/rosbag2_performance_benchmarking/CMakeLists.txt
index a11459a8f..8de5d4d1f 100644
--- a/rosbag2_performance/rosbag2_performance_benchmarking/CMakeLists.txt
+++ b/rosbag2_performance/rosbag2_performance_benchmarking/CMakeLists.txt
@@ -23,7 +23,6 @@ find_package(rosbag2_storage REQUIRED)
 find_package(rmw REQUIRED)
 find_package(rosbag2_performance_benchmarking_msgs REQUIRED)
 find_package(sensor_msgs REQUIRED)
-find_package(yaml_cpp_vendor REQUIRED)
 find_package(yaml-cpp REQUIRED)
 
 add_executable(writer_benchmark
diff --git a/rosbag2_performance/rosbag2_performance_benchmarking/package.xml b/rosbag2_performance/rosbag2_performance_benchmarking/package.xml
index 3e2fc0074..2a6d0bc38 100644
--- a/rosbag2_performance/rosbag2_performance_benchmarking/package.xml
+++ b/rosbag2_performance/rosbag2_performance_benchmarking/package.xml
@@ -25,7 +25,7 @@
   <depend>rmw</depend>
   <depend>rosbag2_performance_benchmarking_msgs</depend>
   <depend>sensor_msgs</depend>
-  <depend>yaml_cpp_vendor</depend>
+  <depend>yaml-cpp</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
diff --git a/rosbag2_storage/CMakeLists.txt b/rosbag2_storage/CMakeLists.txt
index 1fb66b67a..078120348 100644
--- a/rosbag2_storage/CMakeLists.txt
+++ b/rosbag2_storage/CMakeLists.txt
@@ -26,7 +26,6 @@ find_package(pluginlib REQUIRED)
 find_package(rcutils REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(rmw REQUIRED)
-find_package(yaml_cpp_vendor REQUIRED)
 find_package(yaml-cpp REQUIRED)
 
 add_library(
@@ -76,7 +75,7 @@ ament_export_libraries(${PROJECT_NAME})
 # Export modern CMake targets
 ament_export_targets(export_${PROJECT_NAME})
 
-ament_export_dependencies(rclcpp rcutils rmw yaml-cpp yaml_cpp_vendor)
+ament_export_dependencies(rclcpp rcutils rmw yaml-cpp)
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
diff --git a/rosbag2_storage/package.xml b/rosbag2_storage/package.xml
index 0bc5016bc..7a9dd1258 100644
--- a/rosbag2_storage/package.xml
+++ b/rosbag2_storage/package.xml
@@ -16,7 +16,7 @@
   <depend>rcutils</depend>
   <depend>rclcpp</depend>
   <depend>rmw</depend>
-  <depend>yaml_cpp_vendor</depend>
+  <depend>yaml-cpp</depend>
 
   <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_cmake_gmock</test_depend>
diff --git a/rosbag2_storage_mcap/CMakeLists.txt b/rosbag2_storage_mcap/CMakeLists.txt
index 6552cd59f..61d528434 100644
--- a/rosbag2_storage_mcap/CMakeLists.txt
+++ b/rosbag2_storage_mcap/CMakeLists.txt
@@ -28,7 +28,6 @@ find_package(mcap_vendor REQUIRED)
 find_package(pluginlib REQUIRED)
 find_package(rcutils REQUIRED)
 find_package(rosbag2_storage REQUIRED)
-find_package(yaml_cpp_vendor REQUIRED)
 find_package(yaml-cpp REQUIRED)
 
 ament_python_install_package(ros2bag_mcap_cli)
diff --git a/rosbag2_storage_mcap/package.xml b/rosbag2_storage_mcap/package.xml
index 8010b2508..994fb4bdd 100644
--- a/rosbag2_storage_mcap/package.xml
+++ b/rosbag2_storage_mcap/package.xml
@@ -17,7 +17,7 @@
   <depend>pluginlib</depend>
   <depend>rcutils</depend>
   <depend>rosbag2_storage</depend>
-  <depend>yaml_cpp_vendor</depend>
+  <depend>yaml-cpp</depend>
 
   <test_depend>ament_cmake_clang_format</test_depend>
   <test_depend>ament_cmake_gmock</test_depend>
diff --git a/rosbag2_transport/CMakeLists.txt b/rosbag2_transport/CMakeLists.txt
index a0b764839..83802ebf0 100644
--- a/rosbag2_transport/CMakeLists.txt
+++ b/rosbag2_transport/CMakeLists.txt
@@ -40,7 +40,6 @@ find_package(rosbag2_cpp REQUIRED)
 find_package(rosbag2_interfaces REQUIRED)
 find_package(rosbag2_storage REQUIRED)
 find_package(rmw_implementation_cmake REQUIRED)
-find_package(yaml_cpp_vendor REQUIRED)
 find_package(yaml-cpp REQUIRED)
 
 add_library(${PROJECT_NAME} SHARED
diff --git a/rosbag2_transport/package.xml b/rosbag2_transport/package.xml
index 0956b57d1..bacf9e143 100644
--- a/rosbag2_transport/package.xml
+++ b/rosbag2_transport/package.xml
@@ -23,7 +23,7 @@
   <depend>rosbag2_cpp</depend>
   <depend>rosbag2_interfaces</depend>
   <depend>rosbag2_storage</depend>
-  <depend>yaml_cpp_vendor</depend>
+  <depend>yaml-cpp</depend>
   <depend>keyboard_handler</depend>
 
   <test_depend>ament_cmake_gmock</test_depend>