diff --git a/moveit_core/CMakeLists.txt b/moveit_core/CMakeLists.txt
index ceb8b52865..5b243d1550 100644
--- a/moveit_core/CMakeLists.txt
+++ b/moveit_core/CMakeLists.txt
@@ -10,9 +10,6 @@ find_package(rclcpp REQUIRED)
 find_package(eigen3_cmake_module REQUIRED)
 find_package(Eigen3 REQUIRED)
 
-# Finds Boost Components
-include(ConfigExtras.cmake)
-
 find_package(PkgConfig REQUIRED)
 pkg_check_modules(LIBFCL REQUIRED "fcl>=0.5.0")
 # replace LIBFCL_LIBRARIES with full paths to the libraries
@@ -52,6 +49,9 @@ find_package(pluginlib REQUIRED)
 # TODO: Port python bindings
 # find_package(pybind11 REQUIRED)
 
+# Finds Boost Components
+include(ConfigExtras.cmake)
+
 # Set target file path for version.h
 set(VERSION_FILE_PATH ${CMAKE_BINARY_DIR}/include)
 
diff --git a/moveit_core/distance_field/CMakeLists.txt b/moveit_core/distance_field/CMakeLists.txt
index f25acaa4da..0f4e5dd710 100644
--- a/moveit_core/distance_field/CMakeLists.txt
+++ b/moveit_core/distance_field/CMakeLists.txt
@@ -16,7 +16,6 @@ ament_target_dependencies(${MOVEIT_LIB_NAME}
   tf2_eigen
   OCTOMAP
 )
-target_link_libraries(${MOVEIT_LIB_NAME} Boost::iostreams)
 
 install(DIRECTORY include/ DESTINATION include)
 
diff --git a/moveit_core/utils/CMakeLists.txt b/moveit_core/utils/CMakeLists.txt
index 57bf319f3d..f94540da35 100644
--- a/moveit_core/utils/CMakeLists.txt
+++ b/moveit_core/utils/CMakeLists.txt
@@ -14,7 +14,7 @@ install(DIRECTORY include/ DESTINATION include)
 find_package(ament_index_cpp REQUIRED)
 set(MOVEIT_TEST_LIB_NAME moveit_test_utils)
 add_library(${MOVEIT_TEST_LIB_NAME} SHARED src/robot_model_test_utils.cpp)
-target_link_libraries(${MOVEIT_TEST_LIB_NAME} moveit_robot_model Boost::regex)
+target_link_libraries(${MOVEIT_TEST_LIB_NAME} moveit_robot_model)
 ament_target_dependencies(${MOVEIT_TEST_LIB_NAME}
   ament_index_cpp
   Boost
diff --git a/moveit_ros/occupancy_map_monitor/CMakeLists.txt b/moveit_ros/occupancy_map_monitor/CMakeLists.txt
index f6a417c91e..fb8c0caed4 100644
--- a/moveit_ros/occupancy_map_monitor/CMakeLists.txt
+++ b/moveit_ros/occupancy_map_monitor/CMakeLists.txt
@@ -12,9 +12,6 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wno-pedantic)
 endif()
 
-# Finds Boost Components
-include(ConfigExtras.cmake)
-
 if(APPLE)
   find_package(X11 REQUIRED)
 endif()
@@ -27,6 +24,9 @@ find_package(octomap REQUIRED)
 find_package(geometric_shapes REQUIRED)
 find_package(tf2_ros REQUIRED)
 
+# Finds Boost Components
+include(ConfigExtras.cmake)
+
 include_directories(include)
 include_directories(SYSTEM
   ${EIGEN3_INCLUDE_DIRS}
@@ -52,7 +52,6 @@ set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_V
 ament_target_dependencies(${MOVEIT_LIB_NAME}
   ${THIS_PACKAGE_INCLUDE_DEPENDS}
 )
-target_link_libraries(${MOVEIT_LIB_NAME} Boost::thread)
 
 add_executable(moveit_ros_occupancy_map_server src/occupancy_map_server.cpp)
 ament_target_dependencies(moveit_ros_occupancy_map_server
diff --git a/moveit_ros/perception/CMakeLists.txt b/moveit_ros/perception/CMakeLists.txt
index f2fef34935..f7c00d9b45 100644
--- a/moveit_ros/perception/CMakeLists.txt
+++ b/moveit_ros/perception/CMakeLists.txt
@@ -11,9 +11,6 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wpedantic)
 endif()
 
-# Finds Boost Components
-include(ConfigExtras.cmake)
-
 if(WITH_OPENGL)
   # Prefer newer vendor-specific OpenGL library
   if(POLICY CMP0072)
@@ -62,6 +59,9 @@ find_package(Eigen3 REQUIRED)
 find_package(OpenMP REQUIRED)
 find_package(OpenCV)
 
+# Finds Boost Components
+include(ConfigExtras.cmake)
+
 set(THIS_PACKAGE_INCLUDE_DIRS
   depth_image_octomap_updater/include
   lazy_free_space_updater/include
diff --git a/moveit_ros/planning_interface/CMakeLists.txt b/moveit_ros/planning_interface/CMakeLists.txt
index 4bb31d68a8..1efc97912b 100644
--- a/moveit_ros/planning_interface/CMakeLists.txt
+++ b/moveit_ros/planning_interface/CMakeLists.txt
@@ -79,7 +79,6 @@ add_subdirectory(move_group_interface)
 if(BUILD_TESTING)
   find_package(ament_cmake_gtest REQUIRED)
   find_package(ros_testing REQUIRED)
-  find_package(Boost REQUIRED COMPONENTS filesystem)
 
   # TODO (vatanaksoytezer): Enable once this test is not flaky
   # Move group interface cpp ompl constrained planning integration test
diff --git a/moveit_ros/planning_interface/ConfigExtras.cmake b/moveit_ros/planning_interface/ConfigExtras.cmake
index f23809f4f9..c1b88a79a6 100644
--- a/moveit_ros/planning_interface/ConfigExtras.cmake
+++ b/moveit_ros/planning_interface/ConfigExtras.cmake
@@ -1,6 +1,5 @@
 # Extras module needed for dependencies to find boost components
 
-find_package(Boost REQUIRED)
 #if(Boost_VERSION LESS 106700)
 #  set(BOOST_PYTHON_COMPONENT python)
 #else()