diff --git a/.travis.yml b/.travis.yml
index 87b9ef8e..c711dc97 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -8,7 +8,7 @@ compiler:
 script: "./.travis/build"
 before_install:
   - sudo apt-get update -qq
-  - sudo apt-get install -qq libboost-system-dev libboost-thread-dev libboost-test-dev libtinyxml-dev
+  - sudo apt-get install -qq libtinyxml-dev
 matrix:
   allow_failures:
     - compiler: clang
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 7ff30b08..48b96d3b 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -45,10 +45,6 @@ find_package(console_bridge 0.3 REQUIRED)
 include_directories(SYSTEM ${console_bridge_INCLUDE_DIRS})
 link_directories(${console_bridge_LIBRARY_DIRS})
 
-find_package(Boost REQUIRED system thread)
-include_directories(${Boost_INCLUDE_DIR})
-link_directories(${Boost_LIBRARY_DIRS})
-
 #In Visual Studio a special postfix for 
 #libraries compiled in debug is used
 if(MSVC)
diff --git a/cmake/urdfdom-config.cmake.in b/cmake/urdfdom-config.cmake.in
index 43b7a065..fb81b476 100644
--- a/cmake/urdfdom-config.cmake.in
+++ b/cmake/urdfdom-config.cmake.in
@@ -3,7 +3,7 @@ if (@PKG_NAME@_CONFIG_INCLUDED)
 endif()
 set(@PKG_NAME@_CONFIG_INCLUDED TRUE)
 
-set(@PKG_NAME@_INCLUDE_DIRS "@CMAKE_INSTALL_PREFIX@/include" "@Boost_INCLUDE_DIR@" "@TinyXML_INCLUDE_DIRS@")
+set(@PKG_NAME@_INCLUDE_DIRS "@CMAKE_INSTALL_PREFIX@/include" "@TinyXML_INCLUDE_DIRS@")
 
 foreach(lib @PKG_LIBRARIES@)
   set(onelib "${lib}-NOTFOUND")
diff --git a/urdf_parser/CMakeLists.txt b/urdf_parser/CMakeLists.txt
index 75194857..333226e1 100644
--- a/urdf_parser/CMakeLists.txt
+++ b/urdf_parser/CMakeLists.txt
@@ -1,19 +1,19 @@
 include_directories(include)
 
 add_library(urdfdom_world SHARED src/pose.cpp src/model.cpp src/link.cpp src/joint.cpp src/world.cpp)
-target_link_libraries(urdfdom_world ${TinyXML_LIBRARIES} ${console_bridge_LIBRARIES} ${Boost_LIBRARIES})
+target_link_libraries(urdfdom_world ${TinyXML_LIBRARIES} ${console_bridge_LIBRARIES})
 set_target_properties(urdfdom_world PROPERTIES SOVERSION ${URDF_MAJOR_MINOR_VERSION})
 
 add_library(urdfdom_model SHARED src/pose.cpp src/model.cpp src/link.cpp src/joint.cpp)
-target_link_libraries(urdfdom_model ${TinyXML_LIBRARIES} ${console_bridge_LIBRARIES} ${Boost_LIBRARIES})
+target_link_libraries(urdfdom_model ${TinyXML_LIBRARIES} ${console_bridge_LIBRARIES})
 set_target_properties(urdfdom_model PROPERTIES SOVERSION ${URDF_MAJOR_MINOR_VERSION})
 
 add_library(urdfdom_sensor SHARED src/urdf_sensor.cpp)
-target_link_libraries(urdfdom_sensor urdfdom_model ${TinyXML_LIBRARIES} ${console_bridge_LIBRARIES} ${Boost_LIBRARIES})
+target_link_libraries(urdfdom_sensor urdfdom_model ${TinyXML_LIBRARIES} ${console_bridge_LIBRARIES})
 set_target_properties(urdfdom_sensor PROPERTIES SOVERSION ${URDF_MAJOR_MINOR_VERSION})
 
 add_library(urdfdom_model_state SHARED src/urdf_model_state.cpp src/twist.cpp)
-target_link_libraries(urdfdom_model_state ${TinyXML_LIBRARIES} ${console_bridge_LIBRARIES} ${Boost_LIBRARIES})
+target_link_libraries(urdfdom_model_state ${TinyXML_LIBRARIES} ${console_bridge_LIBRARIES})
 set_target_properties(urdfdom_model_state PROPERTIES SOVERSION ${URDF_MAJOR_MINOR_VERSION})
 
 # --------------------------------