diff --git a/src/modules/simulation/gz_plugins/gstreamer/CMakeLists.txt b/src/modules/simulation/gz_plugins/gstreamer/CMakeLists.txt
index 1f4cda0858..34d6f663cb 100644
--- a/src/modules/simulation/gz_plugins/gstreamer/CMakeLists.txt
+++ b/src/modules/simulation/gz_plugins/gstreamer/CMakeLists.txt
@@ -44,10 +44,10 @@ add_library(${PROJECT_NAME} SHARED
 
 target_link_libraries(${PROJECT_NAME}
     PUBLIC px4_gz_msgs
-    PUBLIC gz-sensors${GZ_SENSORS_VERSION}::gz-sensors${GZ_SENSORS_VERSION}
-    PUBLIC gz-plugin${GZ_PLUGIN_VERSION}::gz-plugin${GZ_PLUGIN_VERSION}
-    PUBLIC gz-sim${GZ_SIM_VERSION}::gz-sim${GZ_SIM_VERSION}
-    PUBLIC gz-transport${GZ_TRANSPORT_VERSION}::gz-transport${GZ_TRANSPORT_VERSION}
+    PUBLIC gz-sensors${gz-sensors_VERSION_MAJOR}::gz-sensors${gz-sensors_VERSION_MAJOR}
+    PUBLIC gz-plugin${gz-plugin_VERSION_MAJOR}::gz-plugin${gz-plugin_VERSION_MAJOR}
+    PUBLIC gz-sim${gz-sim_VERSION_MAJOR}::gz-sim${gz-sim_VERSION_MAJOR}
+    PUBLIC gz-transport${gz-transport_VERSION_MAJOR}::gz-transport${gz-transport_VERSION_MAJOR}
     PUBLIC ${GSTREAMER_LIBRARIES}
     PUBLIC ${GSTREAMER_APP_LIBRARIES}
 )