diff --git a/CHANGELOG.md b/CHANGELOG.md
index 800d2097..3fbb059e 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -9,6 +9,9 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 ### Added
 - Add compatibility with jrl-cmakemodules workspace ([#485](https://github.com/stack-of-tasks/eigenpy/pull/485))
 
+### Fixed
+- Remove CMake CMP0167 warnings ([#487](https://github.com/stack-of-tasks/eigenpy/pull/487))
+
 ## [3.7.0] - 2024-06-11
 
 ### Added
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 423fa713..56864d6b 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -68,6 +68,11 @@ option(SUFFIX_SO_VERSION "Suffix library name with its version" OFF)
 option(BUILD_TESTING_SCIPY
        "Build the SciPy tests (scipy should be installed on the machine)" ON)
 
+# 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("${JRL_CMAKE_MODULES}/base.cmake")
 compute_project_args(PROJECT_ARGS LANGUAGES CXX)
 project(${PROJECT_NAME} ${PROJECT_ARGS})