diff --git a/cv_bridge/CMakeLists.txt b/cv_bridge/CMakeLists.txt
index 997bef3e1..eaf569e8a 100644
--- a/cv_bridge/CMakeLists.txt
+++ b/cv_bridge/CMakeLists.txt
@@ -5,10 +5,29 @@ find_package(catkin REQUIRED COMPONENTS rosconsole sensor_msgs)
 
 if(NOT ANDROID)
   find_package(PythonLibs)
-  if(PYTHONLIBS_VERSION_STRING VERSION_LESS 3)
-    find_package(Boost REQUIRED python)
+  if(PYTHONLIBS_VERSION_STRING MATCHES "^([0-9]+)\\.([0-9]+)\\.([0-9]+)")
+    set(Python_VERSION_MAJOR "${CMAKE_MATCH_1}")
+    set(Python_VERSION_MINOR "${CMAKE_MATCH_2}")
+    set(Python_VERSION_PATCH "${CMAKE_MATCH_3}")
+    find_package(Boost QUIET)
+    if(Boost_VERSION LESS 106700)
+      if(Python_VERSION_MAJOR LESS 3)
+        find_package(Boost REQUIRED COMPONENTS python)
+      else()
+        find_package(Boost REQUIRED COMPONENTS python3)
+      endif()
+    else()
+      # The boost_python library has been renamed in Boost 1.67 and the FindBoost.cmake
+      # module requires a Python version suffix:
+      #
+      # References:
+      # - https://www.boost.org/docs/libs/1_67_0/libs/python/doc/html/rn.html
+      # - https://cmake.org/cmake/help/v3.12/module/FindBoost.html
+      #
+      find_package(Boost REQUIRED COMPONENTS python${Python_VERSION_MAJOR}${Python_VERSION_MINOR})
+    endif()
   else()
-    find_package(Boost REQUIRED python3)
+    message(FATAL_ERROR "Could not detect the Python version from string '${PYTHONLIBS_VERSION_STRING}' required to find the respective boost_python module.")
   endif()
 else()
 find_package(Boost REQUIRED)