diff --git a/pkgs/development/libraries/hpp-fcl/default.nix b/pkgs/development/libraries/hpp-fcl/default.nix
index 0359abec9b08..d5e96966e4d5 100644
--- a/pkgs/development/libraries/hpp-fcl/default.nix
+++ b/pkgs/development/libraries/hpp-fcl/default.nix
@@ -10,6 +10,7 @@
 , qhull
 , pythonSupport ? false
 , python3Packages
+, zlib
 }:
 
 stdenv.mkDerivation (finalAttrs: {
@@ -37,6 +38,7 @@ stdenv.mkDerivation (finalAttrs: {
     assimp
     qhull
     octomap
+    zlib
   ] ++ lib.optionals (!pythonSupport) [
     boost
     eigen