diff --git a/pkgs/by-name/or/orocos-kdl/package.nix b/pkgs/by-name/or/orocos-kdl/package.nix
index e2ea39a3a8eb..0e3d40810d9e 100644
--- a/pkgs/by-name/or/orocos-kdl/package.nix
+++ b/pkgs/by-name/or/orocos-kdl/package.nix
@@ -8,15 +8,14 @@
 
 stdenv.mkDerivation rec {
   pname = "orocos-kdl";
-  version = "1.5.1";
+  version = "1.5.3";
 
   src = fetchFromGitHub {
     owner = "orocos";
     repo = "orocos_kinematics_dynamics";
-    tag = "v${version}";
-    sha256 = "15ky7vw461005axx96d0f4zxdnb9dxl3h082igyd68sbdb8r1419";
-    # Needed to build Python bindings
-    fetchSubmodules = true;
+    tag = "${version}";
+    hash = "sha256-4pPU+6uMMYLGq2V46wmg6lHFVhwFXrEg7PfnWGAI2is=";
+    fetchSubmodules = true; # Needed to build Python bindings
   };
 
   sourceRoot = "${src.name}/orocos_kdl";
diff --git a/pkgs/development/python-modules/pykdl/default.nix b/pkgs/development/python-modules/pykdl/default.nix
index 6670f6d145d0..49409e6bb131 100644
--- a/pkgs/development/python-modules/pykdl/default.nix
+++ b/pkgs/development/python-modules/pykdl/default.nix
@@ -2,7 +2,6 @@
   lib,
   stdenv,
   toPythonModule,
-  fetchpatch,
   cmake,
   pybind11,
   orocos-kdl,
@@ -17,15 +16,6 @@ toPythonModule (
 
     sourceRoot = "${orocos-kdl.src.name}/python_orocos_kdl";
 
-    patches = [
-      # Support system pybind11; the vendored copy doesn't support Python 3.11
-      (fetchpatch {
-        url = "https://github.com/orocos/orocos_kinematics_dynamics/commit/e25a13fc5820dbca6b23d10506407bca9bcdd25f.patch";
-        hash = "sha256-NGMVGEYsa7hVX+SgRZgeSm93BqxFR1uiyFvzyF5H0Y4=";
-        stripLen = 1;
-      })
-    ];
-
     # Fix hardcoded installation path
     postPatch = ''
       substituteInPlace CMakeLists.txt \