diff --git a/CMakeLists.txt b/CMakeLists.txt
index 0357d204397..b21d3005f0b 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -346,7 +346,10 @@ endif()
 find_package(Threads REQUIRED)
 
 # Eigen3 (required)
-find_package(Eigen3 3.3 REQUIRED NO_MODULE)
+find_package(Eigen3 REQUIRED NO_MODULE)
+if (Eigen3_VERSION VERSION_LESS 3.3)
+  message(FATAL_ERROR "Eigen version>=3.3 is required, but found ${Eigen3_VERSION}")
+endif()
 if(NOT EIGEN3_FOUND AND Eigen3_FOUND)
     set(EIGEN3_FOUND ${Eigen3_FOUND})
 endif()
diff --git a/PCLConfig.cmake.in b/PCLConfig.cmake.in
index d90f4a225a6..54ba7f16cc9 100644
--- a/PCLConfig.cmake.in
+++ b/PCLConfig.cmake.in
@@ -118,7 +118,10 @@ macro(find_eigen3)
   if(PCL_ALL_IN_ONE_INSTALLER)
     set(Eigen3_DIR "${PCL_ROOT}/3rdParty/Eigen3/share/eigen3/cmake/")
   endif()
-  find_package(Eigen3 3.3 REQUIRED NO_MODULE)
+  find_package(Eigen3 REQUIRED NO_MODULE)
+  if (Eigen3_VERSION VERSION_LESS 3.3)
+    message(FATAL_ERROR "Eigen version>=3.3 is required, but found ${Eigen3_VERSION}")
+  endif()
   if(NOT EIGEN3_FOUND AND Eigen3_FOUND)
     set(EIGEN3_FOUND ${Eigen3_FOUND})
   endif()