diff --git a/CHANGELOG.md b/CHANGELOG.md
index 66128da469..a95da4dd7c 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -10,6 +10,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 - Append pinocchio optional libraries into pkg-config file ([#2322](https://github.com/stack-of-tasks/pinocchio/pull/2322))
 - Fixed support of DAE meshes with MeshCat ([#2331](https://github.com/stack-of-tasks/pinocchio/pull/2331))
 - Fixed pointer casts in urdf parser ([#2339](https://github.com/stack-of-tasks/pinocchio/pull/2339))
+- Remove CMake CMP0167 warnings ([#2347](https://github.com/stack-of-tasks/pinocchio/pull/2347))
 
 ### Added
 - Add getMotionAxis method to helical, prismatic, revolute and ubounded revolute joint ([#2315](https://github.com/stack-of-tasks/pinocchio/pull/2315))
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 6982a57068..860c01549d 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -58,6 +58,11 @@ endif()
 set(DOXYGEN_USE_MATHJAX YES)
 set(DOXYGEN_USE_TEMPLATE_CSS YES)
 
+# Use BoostConfig module distributed by boost library instead of using FindBoost module distributed
+# by CMake
+if(POLICY CMP0167)
+  cmake_policy(SET CMP0167 NEW)
+endif()
 include("${JRL_CMAKE_MODULES}/base.cmake")
 
 compute_project_args(PROJECT_ARGS LANGUAGES CXX)