diff --git a/pkgs/by-name/mu/mujoco/package.nix b/pkgs/by-name/mu/mujoco/package.nix
index 709d6ee9dd74..4dcc0fb0c2a1 100644
--- a/pkgs/by-name/mu/mujoco/package.nix
+++ b/pkgs/by-name/mu/mujoco/package.nix
@@ -3,6 +3,7 @@
   stdenv,
   fetchFromGitHub,
   cmake,
+  gitMinimal,
   fetchFromGitLab,
   glfw,
   glm,
@@ -36,8 +37,8 @@ let
     eigen3 = fetchFromGitLab {
       owner = "libeigen";
       repo = "eigen";
-      rev = "4033cfcc1dd45b3cdf7285afd93556f2cfbe9425";
-      hash = "sha256-E1jfbHldIQOwonHvMn0feQiLI9zq3zB8Q9a0ufw1HuY=";
+      rev = "49623d0c4e1af3c680845191948d10f6d3e92f8a";
+      hash = "sha256-jmPPyOHNP8Lrk5BKMhWW6KzizLF4dJB3txqOi2zBW40=";
     };
     googletest = fetchFromGitHub {
       owner = "google";
@@ -86,7 +87,7 @@ let
 in
 stdenv.mkDerivation (finalAttrs: {
   pname = "mujoco";
-  version = "3.3.7";
+  version = "3.4.0";
 
   # Bumping version? Make sure to look though the MuJoCo's commit
   # history for bumped dependency pins!
@@ -94,12 +95,16 @@ stdenv.mkDerivation (finalAttrs: {
     owner = "google-deepmind";
     repo = "mujoco";
     tag = finalAttrs.version;
-    hash = "sha256-qetgQDgXtaDAuAo/PakZJEsevnvZFJB5EYXPMWeaEqo=";
+    hash = "sha256-mW1AZKRo5rC3q7VARNI3HNKYGXxnAX6R1AfmY8J1D/Q=";
   };
 
   patches = [ ./mujoco-system-deps-dont-fetch.patch ];
 
-  nativeBuildInputs = [ cmake ];
+  nativeBuildInputs = [
+    cmake
+    # git is needed to apply patches to ccd-src and qhull-src (see below)
+    gitMinimal
+  ];
 
   buildInputs = [
     glm
@@ -120,11 +125,25 @@ stdenv.mkDerivation (finalAttrs: {
     mkdir -p build/_deps
     ln -s ${pin.abseil-cpp} build/_deps/abseil-cpp-src
     ln -s ${pin.benchmark} build/_deps/benchmark-src
-    ln -s ${pin.ccd} build/_deps/ccd-src
+  ''
+  # cccd is patched by mujoco's cmake and thus needs to be writable
+  # https://github.com/google-deepmind/mujoco/blob/3.4.0/cmake/MujocoDependencies.cmake#L232-L235
+  + ''
+    cp -r ${pin.ccd} build/_deps/ccd-src
+    chmod -R +w build/_deps/ccd-src
+  ''
+  + ''
     ln -s ${pin.eigen3} build/_deps/eigen3-src
     ln -s ${pin.googletest} build/_deps/googletest-src
     ln -s ${pin.lodepng} build/_deps/lodepng-src
-    ln -s ${pin.qhull} build/_deps/qhull-src
+  ''
+  # qhull is patched by mujoco's cmake and thus needs to be writable
+  # https://github.com/google-deepmind/mujoco/blob/3.4.0/cmake/MujocoDependencies.cmake#L132-L135
+  + ''
+    cp -r ${pin.qhull} build/_deps/qhull-src
+    chmod -R +w build/_deps/qhull-src
+  ''
+  + ''
     ln -s ${pin.tinyobjloader} build/_deps/tinyobjloader-src
     ln -s ${pin.tinyxml2} build/_deps/tinyxml2-src
   ''
diff --git a/pkgs/development/python-modules/mujoco/default.nix b/pkgs/development/python-modules/mujoco/default.nix
index 69ccd0ec6a77..980bcafa9b2a 100644
--- a/pkgs/development/python-modules/mujoco/default.nix
+++ b/pkgs/development/python-modules/mujoco/default.nix
@@ -38,7 +38,7 @@ buildPythonPackage rec {
   # in the project's CI.
   src = fetchPypi {
     inherit pname version;
-    hash = "sha256-lw28RAEzccLeZF+cN6m0Hxi0/DaK3IxfgFeYgSG+YQs=";
+    hash = "sha256-Wm3Gt9tB6wq4ckzUd70DFrpLU96/wtgKLW9EShFvuNI=";
   };
 
   nativeBuildInputs = [ cmake ];