diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index 874039dd72..9277140bf9 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -148,6 +148,7 @@ jobs:
         cd build &&
         cmake ..
         -DCMAKE_BUILD_TYPE:STRING=Release
+        -DCMAKE_INTERPROCEDURAL_OPTIMIZATION:BOOL=OFF
         -DCMAKE_INSTALL_PREFIX:STRING=${{ matrix.tmpdir }}/mujoco_install
         -DMUJOCO_BUILD_EXAMPLES:BOOL=OFF
         ${{ matrix.cmake_args }}
@@ -192,6 +193,7 @@ jobs:
         cd build &&
         cmake ..
         -DCMAKE_BUILD_TYPE:STRING=Release
+        -DCMAKE_INTERPROCEDURAL_OPTIMIZATION:BOOL=OFF
         -Dmujoco_ROOT:STRING=${{ matrix.tmpdir }}/mujoco_install
         ${{ matrix.cmake_args }}
     - name: Build samples
@@ -204,6 +206,7 @@ jobs:
         cd build &&
         cmake ..
         -DCMAKE_BUILD_TYPE:STRING=Release
+        -DCMAKE_INTERPROCEDURAL_OPTIMIZATION:BOOL=OFF
         -Dmujoco_ROOT:STRING=${{ matrix.tmpdir }}/mujoco_install
         ${{ matrix.cmake_args }}
     - name: Build simulate
diff --git a/cmake/MujocoOptions.cmake b/cmake/MujocoOptions.cmake
index 3e3f080f01..de146d89ff 100644
--- a/cmake/MujocoOptions.cmake
+++ b/cmake/MujocoOptions.cmake
@@ -104,6 +104,10 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR (CMAKE_CXX_COMPILER_ID MATCHES "Clang
   endif()
 endif()
 
+if(NOT CMAKE_INTERPROCEDURAL_OPTIMIZATION AND (CMAKE_BUILD_TYPE AND NOT CMAKE_BUILD_TYPE STREQUAL "Debug"))
+  set(CMAKE_INTERPROCEDURAL_OPTIMIZATION ON)
+endif()
+
 include(MujocoHarden)
 set(EXTRA_COMPILE_OPTIONS ${EXTRA_COMPILE_OPTIONS} ${MUJOCO_HARDEN_COMPILE_OPTIONS})
 set(EXTRA_LINK_OPTIONS ${EXTRA_LINK_OPTIONS} ${MUJOCO_HARDEN_LINK_OPTIONS})
diff --git a/sample/cmake/SampleOptions.cmake b/sample/cmake/SampleOptions.cmake
index 3e3f080f01..de146d89ff 100644
--- a/sample/cmake/SampleOptions.cmake
+++ b/sample/cmake/SampleOptions.cmake
@@ -104,6 +104,10 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR (CMAKE_CXX_COMPILER_ID MATCHES "Clang
   endif()
 endif()
 
+if(NOT CMAKE_INTERPROCEDURAL_OPTIMIZATION AND (CMAKE_BUILD_TYPE AND NOT CMAKE_BUILD_TYPE STREQUAL "Debug"))
+  set(CMAKE_INTERPROCEDURAL_OPTIMIZATION ON)
+endif()
+
 include(MujocoHarden)
 set(EXTRA_COMPILE_OPTIONS ${EXTRA_COMPILE_OPTIONS} ${MUJOCO_HARDEN_COMPILE_OPTIONS})
 set(EXTRA_LINK_OPTIONS ${EXTRA_LINK_OPTIONS} ${MUJOCO_HARDEN_LINK_OPTIONS})
diff --git a/simulate/cmake/SimulateOptions.cmake b/simulate/cmake/SimulateOptions.cmake
index 3e3f080f01..de146d89ff 100644
--- a/simulate/cmake/SimulateOptions.cmake
+++ b/simulate/cmake/SimulateOptions.cmake
@@ -104,6 +104,10 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR (CMAKE_CXX_COMPILER_ID MATCHES "Clang
   endif()
 endif()
 
+if(NOT CMAKE_INTERPROCEDURAL_OPTIMIZATION AND (CMAKE_BUILD_TYPE AND NOT CMAKE_BUILD_TYPE STREQUAL "Debug"))
+  set(CMAKE_INTERPROCEDURAL_OPTIMIZATION ON)
+endif()
+
 include(MujocoHarden)
 set(EXTRA_COMPILE_OPTIONS ${EXTRA_COMPILE_OPTIONS} ${MUJOCO_HARDEN_COMPILE_OPTIONS})
 set(EXTRA_LINK_OPTIONS ${EXTRA_LINK_OPTIONS} ${MUJOCO_HARDEN_LINK_OPTIONS})