diff --git a/pkgs/development/python-modules/pykdl/default.nix b/pkgs/development/python-modules/pykdl/default.nix
index cc92086747e4..75f2ab61d283 100644
--- a/pkgs/development/python-modules/pykdl/default.nix
+++ b/pkgs/development/python-modules/pykdl/default.nix
@@ -1,4 +1,5 @@
-{ lib, stdenv, toPythonModule, cmake, orocos-kdl, eigen, python }:
+{ lib, stdenv, toPythonModule, fetchpatch, cmake, pybind11, orocos-kdl, eigen
+, python }:
 
 toPythonModule (stdenv.mkDerivation {
   pname = "pykdl";
@@ -6,13 +7,22 @@ toPythonModule (stdenv.mkDerivation {
 
   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 \
       --replace dist-packages site-packages
   '';
 
-  nativeBuildInputs = [ cmake ];
+  nativeBuildInputs = [ cmake pybind11 ];
   buildInputs = [ orocos-kdl eigen ];
   propagatedBuildInputs = [ python ];