diff --git a/ports/dartsim/1478.patch b/ports/dartsim/1478.patch
deleted file mode 100644
index ce6dbd1268addd..00000000000000
--- a/ports/dartsim/1478.patch
+++ /dev/null
@@ -1,25 +0,0 @@
-From 6d03ee61c38e2b07b2dbb85f0ba61d2a76956e3b Mon Sep 17 00:00:00 2001
-From: Steve Peters <scpeters@openrobotics.org>
-Date: Fri, 24 Jul 2020 17:24:42 -0700
-Subject: [PATCH] Don't force CMAKE_INSTALL_PREFIX on windows
-
-Fixes #1477.
-
-Signed-off-by: Steve Peters <scpeters@openrobotics.org>
----
- CMakeLists.txt | 2 +-
- 1 file changed, 1 insertion(+), 1 deletion(-)
-
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 6552bedc162..47df721559b 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -51,7 +51,7 @@ initialize_component_helpers(${PROJECT_NAME})
- 
- # System install paths on Windows
- if(WIN32)
--  set(CMAKE_INSTALL_PREFIX "C:/Golems" CACHE PATH "Install prefix" FORCE)
-+  set(CMAKE_INSTALL_PREFIX "C:/Golems" CACHE PATH "Install prefix")
- endif()
- 
- #===============================================================================
diff --git a/ports/dartsim/1497.patch b/ports/dartsim/1497.patch
deleted file mode 100644
index 3f2b6b5b31151c..00000000000000
--- a/ports/dartsim/1497.patch
+++ /dev/null
@@ -1,50 +0,0 @@
-From 9fde9124927789ca2399f99c1be9b101ed1e8550 Mon Sep 17 00:00:00 2001
-From: Silvio Traversaro <silvio.traversaro@iit.it>
-Date: Thu, 3 Sep 2020 17:28:01 +0200
-Subject: [PATCH] CMake: Add DART_SKIP_<dep> advanced option
-
-Add DART_SKIP_<dep> option to permit to specify that
-a dependecy should not used even if it is found in the system.
----
- cmake/DARTMacros.cmake | 21 ++++++++++++++-------
- 1 file changed, 14 insertions(+), 7 deletions(-)
-
-diff --git a/cmake/DARTMacros.cmake b/cmake/DARTMacros.cmake
-index 8b1a89292ee..409b02bd742 100644
---- a/cmake/DARTMacros.cmake
-+++ b/cmake/DARTMacros.cmake
-@@ -127,7 +127,9 @@ endfunction()
- 
- #===============================================================================
- macro(dart_check_optional_package variable component dependency)
--  if(${${variable}_FOUND})
-+  option(DART_SKIP_${variable} "If ON, do not use ${variable} even if it is found." OFF)
-+  mark_as_advanced(DART_SKIP_${variable})
-+  if(${${variable}_FOUND} AND NOT ${DART_SKIP_${variable}})
-     set(HAVE_${variable} TRUE CACHE BOOL "Check if ${variable} found." FORCE)
-     if(DART_VERBOSE)
-       message(STATUS "Looking for ${dependency} - version ${${variable}_VERSION}"
-@@ -135,12 +137,17 @@ macro(dart_check_optional_package variable component dependency)
-     endif()
-   else()
-     set(HAVE_${variable} FALSE CACHE BOOL "Check if ${variable} found." FORCE)
--    if(ARGV3) # version
--      message(STATUS "Looking for ${dependency} - NOT found, to use"
--                      " ${component}, please install ${dependency} (>= ${ARGV3})")
--    else()
--      message(STATUS "Looking for ${dependency} - NOT found, to use"
--                      " ${component}, please install ${dependency}")
-+    if(NOT ${${variable}_FOUND})
-+      if(ARGV3) # version
-+        message(STATUS "Looking for ${dependency} - NOT found, to use"
-+                        " ${component}, please install ${dependency} (>= ${ARGV3})")
-+      else()
-+        message(STATUS "Looking for ${dependency} - NOT found, to use"
-+                        " ${component}, please install ${dependency}")
-+      endif()
-+    elseif(${DART_SKIP_${variable}} AND DART_VERBOSE)
-+      message(STATUS "Not using ${dependency} - version ${${variable}_VERSION}"
-+                     " even if found because DART_SKIP_${variable} is ON.")
-     endif()
-     return()
-   endif()
diff --git a/ports/dartsim/disable_unit_tests_examples_and_tutorials.patch b/ports/dartsim/disable_unit_tests_examples_and_tutorials.patch
index 08119ce39f457d..e20d8de079b60a 100644
--- a/ports/dartsim/disable_unit_tests_examples_and_tutorials.patch
+++ b/ports/dartsim/disable_unit_tests_examples_and_tutorials.patch
@@ -1,20 +1,13 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index e32147d..5c85186 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -279,6 +279,7 @@ add_subdirectory(dart)
- 
- set(DART_IN_SOURCE_BUILD TRUE)
- 
-+if (0)
- if(TARGET dart AND NOT DART_BUILD_DARTPY)
- 
-   # Add a "tests" target to build unit tests.
-@@ -330,6 +331,7 @@ if(TARGET dart AND NOT DART_BUILD_DARTPY)
-   endif(DART_VERBOSE)
- 
- endif()
-+endif()
- 
- if (DART_BUILD_DARTPY)
-   add_subdirectory(python)
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 9940065eb8..b25fa4919a 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -298,7 +298,7 @@ add_subdirectory(dart)
+ 
+ set(DART_IN_SOURCE_BUILD TRUE)
+ 
+-if(TARGET dart)
++if(false)
+ 
+   # Add a "tests" target to build unit tests.
+   enable_testing()
diff --git a/ports/dartsim/portfile.cmake b/ports/dartsim/portfile.cmake
index c208482f1f44fa..d2a7b276fdc637 100644
--- a/ports/dartsim/portfile.cmake
+++ b/ports/dartsim/portfile.cmake
@@ -4,16 +4,14 @@ vcpkg_check_linkage(ONLY_STATIC_LIBRARY)
 vcpkg_from_github(
     OUT_SOURCE_PATH SOURCE_PATH
     REPO dartsim/dart
-    REF v6.9.4
-    SHA512 a9e8712a294286772ee1e3c3899aac7d202f1d3c2b9242ebeaddb2a142787b192d5421a6e3f889dd9ff9ca9e9106b1f893a0c8ab2e1656b04fac6d0be13494ba
-    HEAD_REF release-6.9
+    REF v6.11.0
+    SHA512 01fbff039bcec71d41334db2d07d0973b1ba58d30d05b29e35e1e3cee853917753b64e1101881113a33adb801559855d38d274fbb3383cfb24d85565254d112d
+    HEAD_REF main
     PATCHES
-        1478.patch
-        1497.patch
         disable_unit_tests_examples_and_tutorials.patch
 )
 
-vcpkg_configure_cmake(
+vcpkg_cmake_configure(
     SOURCE_PATH ${SOURCE_PATH}
     OPTIONS
         -DDART_VERBOSE=ON
@@ -26,13 +24,9 @@ vcpkg_configure_cmake(
         -DDART_SKIP_pagmo=ON
 )
 
-vcpkg_install_cmake()
+vcpkg_cmake_install()
 
-vcpkg_fixup_cmake_targets(CONFIG_PATH share/dart/cmake TARGET_PATH share/dart)
-
-# Remove pkg-config file as they are broken upstream (https://github.com/dartsim/dart/issues/1496)
-file(REMOVE_RECURSE ${CURRENT_PACKAGES_DIR}/lib/pkgconfig)
-file(REMOVE_RECURSE ${CURRENT_PACKAGES_DIR}/debug/lib/pkgconfig)
+vcpkg_cmake_config_fixup(CONFIG_PATH share/dart/cmake PACKAGE_NAME dart)
 
 file(REMOVE_RECURSE ${CURRENT_PACKAGES_DIR}/share/doc)
 file(REMOVE_RECURSE ${CURRENT_PACKAGES_DIR}/debug/include)
diff --git a/ports/dartsim/vcpkg.json b/ports/dartsim/vcpkg.json
index 5f4c00b1865905..6590d1814070b5 100644
--- a/ports/dartsim/vcpkg.json
+++ b/ports/dartsim/vcpkg.json
@@ -1,6 +1,6 @@
 {
   "name": "dartsim",
-  "version": "6.9.4",
+  "version": "6.11.0",
   "port-version": 1,
   "description": "Dynamic Animation and Robotics Toolkit",
   "homepage": "https://dartsim.github.io/",
@@ -21,6 +21,14 @@
     "octomap",
     "ode",
     "tinyxml2",
-    "urdfdom"
+    "urdfdom",
+    {
+      "name": "vcpkg-cmake",
+      "host": true
+    },
+    {
+      "name": "vcpkg-cmake-config",
+      "host": true
+    }
   ]
 }
diff --git a/versions/baseline.json b/versions/baseline.json
index 88db3497470b38..37d43b4d00dc04 100644
--- a/versions/baseline.json
+++ b/versions/baseline.json
@@ -1709,7 +1709,7 @@
       "port-version": 2
     },
     "dartsim": {
-      "baseline": "6.9.4",
+      "baseline": "6.11.0",
       "port-version": 1
     },
     "dataframe": {
diff --git a/versions/d-/dartsim.json b/versions/d-/dartsim.json
index f5b4f03e25affe..f8a560e40015e3 100644
--- a/versions/d-/dartsim.json
+++ b/versions/d-/dartsim.json
@@ -1,5 +1,10 @@
 {
   "versions": [
+    {
+      "git-tree": "000785fa5fa81a597b18c374b887ff476182aa50",
+      "version": "6.11.0",
+      "port-version": 1
+    },
     {
       "git-tree": "104efce0932ef1a1e1e01358a442cfff637b285e",
       "version": "6.9.4",