diff --git a/INSTALL.md b/INSTALL.md
index 1fddf4df01..44051815ac 100644
--- a/INSTALL.md
+++ b/INSTALL.md
@@ -13,7 +13,7 @@ $ make install
 ## Important Installation Notes
 
 1. GTSAM requires the following libraries to be installed on your system:
-    - BOOST version 1.58 or greater (install through Linux repositories or MacPorts)
+    - BOOST version 1.67 or greater (install through Linux repositories or MacPorts)
     - Cmake version 3.0 or higher
     - Support for XCode 4.3 command line tools on Mac requires CMake 2.8.8 or higher
 
diff --git a/README.md b/README.md
index 60eff197ae..82a17a8fae 100644
--- a/README.md
+++ b/README.md
@@ -40,7 +40,7 @@ $ make install
 
 Prerequisites:
 
-- [Boost](http://www.boost.org/users/download/) >= 1.58 (Ubuntu: `sudo apt-get install libboost-all-dev`)
+- [Boost](http://www.boost.org/users/download/) >= 1.67 (Ubuntu: `sudo apt-get install libboost-all-dev`)
 - [CMake](http://www.cmake.org/cmake/resources/software.html) >= 3.0 (Ubuntu: `sudo apt-get install cmake`)
 - A modern compiler, i.e., at least gcc 4.7.3 on Linux.
 
diff --git a/cmake/HandleBoost.cmake b/cmake/HandleBoost.cmake
index e73c2237de..a02afba578 100644
--- a/cmake/HandleBoost.cmake
+++ b/cmake/HandleBoost.cmake
@@ -22,7 +22,7 @@ endif()
 
 
 # Store these in variables so they are automatically replicated in GTSAMConfig.cmake and such.
-set(BOOST_FIND_MINIMUM_VERSION 1.58)
+set(BOOST_FIND_MINIMUM_VERSION 1.67)
 set(BOOST_FIND_MINIMUM_COMPONENTS serialization system filesystem thread program_options date_time timer chrono regex)
 
 find_package(Boost ${BOOST_FIND_MINIMUM_VERSION} COMPONENTS ${BOOST_FIND_MINIMUM_COMPONENTS})
@@ -30,7 +30,7 @@ find_package(Boost ${BOOST_FIND_MINIMUM_VERSION} COMPONENTS ${BOOST_FIND_MINIMUM
 # Required components
 if(NOT Boost_SERIALIZATION_LIBRARY OR NOT Boost_SYSTEM_LIBRARY OR NOT Boost_FILESYSTEM_LIBRARY OR
     NOT Boost_THREAD_LIBRARY OR NOT Boost_DATE_TIME_LIBRARY)
-  message(FATAL_ERROR "Missing required Boost components >= v1.58, please install/upgrade Boost or configure your search paths.")
+  message(FATAL_ERROR "Missing required Boost components >= v1.67, please install/upgrade Boost or configure your search paths.")
 endif()
 
 option(GTSAM_DISABLE_NEW_TIMERS "Disables using Boost.chrono for timing" OFF)
diff --git a/cmake/HandleCPack.cmake b/cmake/HandleCPack.cmake
index 1c32433a48..eff36c42dc 100644
--- a/cmake/HandleCPack.cmake
+++ b/cmake/HandleCPack.cmake
@@ -25,4 +25,4 @@ set(CPACK_SOURCE_PACKAGE_FILE_NAME "gtsam-${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION
 
 # Deb-package specific cpack
 set(CPACK_DEBIAN_PACKAGE_NAME "libgtsam-dev")
-set(CPACK_DEBIAN_PACKAGE_DEPENDS "libboost-dev (>= 1.58)") #Example: "libc6 (>= 2.3.1-6), libgcc1 (>= 1:3.4.2-12)")
+set(CPACK_DEBIAN_PACKAGE_DEPENDS "libboost-dev (>= 1.67)") #Example: "libc6 (>= 2.3.1-6), libgcc1 (>= 1:3.4.2-12)")