diff --git a/cmake/pkgconfig/urdfdom.pc.in b/cmake/pkgconfig/urdfdom.pc.in
index e9971da2..3c944475 100644
--- a/cmake/pkgconfig/urdfdom.pc.in
+++ b/cmake/pkgconfig/urdfdom.pc.in
@@ -1,7 +1,7 @@
 # This file was generated by CMake for @PROJECT_NAME@
 prefix=@CMAKE_INSTALL_PREFIX@
 exec_prefix=${prefix}
-libdir=${prefix}/lib
+libdir=${prefix}/@CMAKE_INSTALL_LIBDIR@
 includedir=${prefix}/include
 
 Name: @PKG_NAME@