diff --git a/pkgs/by-name/cr/crocoddyl/package.nix b/pkgs/by-name/cr/crocoddyl/package.nix
index 98e3d79b12e3..ccc05b0297f1 100644
--- a/pkgs/by-name/cr/crocoddyl/package.nix
+++ b/pkgs/by-name/cr/crocoddyl/package.nix
@@ -4,6 +4,7 @@
   doxygen,
   example-robot-data,
   fetchFromGitHub,
+  fetchpatch,
   ipopt,
   lapack,
   lib,
@@ -25,6 +26,15 @@ stdenv.mkDerivation (finalAttrs: {
     hash = "sha256-m7UiCa8ydjsAIhsFiShTi3/JaKgq2TCQ1XYAMyTNg1U=";
   };
 
+  patches = [
+    # ref. https://github.com/loco-3d/crocoddyl/pull/1440 merged upstream
+    (fetchpatch {
+      name = "add-missing-include.patch";
+      url = "https://github.com/loco-3d/crocoddyl/commit/6994bea7bb3ae6027f5b611ef1635768538150fd.patch";
+      hash = "sha256-XbQKRWpWm5Rk4figoA2swId4Pz2xKDpU4NFP46p8WO0=";
+    })
+  ];
+
   outputs = [
     "out"
     "doc"