diff --git a/src/model_io/urdf/CMakeLists.txt b/src/model_io/urdf/CMakeLists.txt
index 295108d4045..4bf11e1515c 100644
--- a/src/model_io/urdf/CMakeLists.txt
+++ b/src/model_io/urdf/CMakeLists.txt
@@ -75,7 +75,7 @@ target_include_directories(${libraryname} PUBLIC "$<BUILD_INTERFACE:${CMAKE_CURR
                                                   ${LIBXML2_INCLUDE_DIR})
 
 target_link_libraries(${libraryname} LINK_PUBLIC idyntree-core idyntree-model idyntree-sensors idyntree-modelio-xml
-                                     LINK_PRIVATE ${TinyXML_LIBRARIES})
+                                     LINK_PRIVATE ${LIBXML2_LIBRARIES})
 
 target_compile_options(${libraryname} PRIVATE ${IDYNTREE_WARNING_FLAGS} ${LIBXML2_DEFINITIONS})